Pascal Matsakis James M. Keller Ozy Sjahputera Jonathon Marjamaa The Use of Force Histograms for Affine-Invariant Relative Position Description. 1-18 2004 26 IEEE Trans. Pattern Anal. Mach. Intell. 1 http://csdl.computer.org/comp/trans/tp/2004/01/i0001abs.htm db/journals/pami/pami26.html#MatsakisKSM04