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Indoor rigid sphere recognition based on 3D point cloud dat:

Duan, J ; Lachhani, K ; Baghsiahi, H..
https://discovery.ucl.ac.uk/id/eprint/1434810/1/Indoor%20rigid%20sphere%20recognition%20based%20on%203D%20point%20cloud%20data%20%EF%BC%88final%29-1.pdf.  , 2014