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Jacobs DW.  1991.  Optimal matching of planar models in 3D scenes. Computer Vision and Pattern Recognition, 1991. Proceedings CVPR '91., IEEE Computer Society Conference on. :269-274.
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Clemens DT, Jacobs DW.  1991.  Space and time bounds on indexing 3D models from 2D images. Pattern Analysis and Machine Intelligence, IEEE Transactions on. 13(10):1007-1017.