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Biswas S, Aggarwal G, Chellappa R.  2006.  Invariant Geometric Representation of 3D Point Clouds for Registration and Matching. Image Processing, 2006 IEEE International Conference on. :1209-1212.
S
Sundaresan A, Chellappa R.  2006.  Segmentation and Probabilistic Registration of Articulated Body Models. Pattern Recognition, 2006. ICPR 2006. 18th International Conference on. 2:92-96.