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Li Y, Bitsakos K, Fermüller C, Aloimonos Y.  2009.  Real-time shape retrieval for robotics using skip Tri-Grams. IEEE/RSJ International Conference on Intelligent Robots and Systems, 2009. IROS 2009. :4731-4738.
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Neumann J, Samet H, Soffer A.  2002.  Integration of local and global shape analysis for logo classification. Pattern Recognition Letters. 23(12):1449-1457.