Granlund, Gosta H., and Anders Moe. “Unrestricted Recognition of 3D Objects for Robotics Using Multilevel Triplet Invariants”. AI Magazine 25, no. 2 (June 15, 2004): 51. Accessed April 26, 2024. https://ojs.aaai.org/aimagazine/index.php/aimagazine/article/view/1760.