Ayako Takenouchi Masato Nakajima Identification of 3D objects using multicolored grid coding. 60-69 1998 29 Systems and Computers in Japan 4 http://dx.doi.org/10.1002/(SICI)1520-684X(199804)29:4<60::AID-SCJ6>3.0.CO;2-M db/journals/scjapan/scjapan29.html#TakenouchiN98