Yasushi Sumi Yoshihiro Kawai Takashi Yoshimi Fumiaki Tomita Recognition of three-dimensional free-form objects using segment-based stereo vision. 25-33 1999 30 Systems and Computers in Japan 12 http://dx.doi.org/10.1002/(SICI)1520-684X(19991115)30:12<25::AID-SCJ3>3.0.CO;2-# db/journals/scjapan/scjapan30.html#SumiKYT99