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Fast rotation search for real-time interactive point cloud ..:

, In: Proceedings of the 18th meeting of the ACM SIGGRAPH Symposium on Interactive 3D Graphics and Games,
Chin, Tat-Jun ; Bustos, Álvaro Parra ; Brown, Michael S.. - p. 55-62 , 2014
Link: https://dl.acm.org/doi/10.1145/2556700.2556712