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Feature detection with a constant FAR in sparse 3-D point c..:

Lühr, Daniel ; Adams, Martin ; Houshiar, Hamidreza..
IEEE Transactions on Geoscience and Remote Sensing, 58 (3): 1877-1891, 2020.  , 2020
Link: https://doi.org/10.1109/TGRS.2019.2950292