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A Frustum-based probabilistic framework for 3D object detec..:

Gong, Zheng ; Lin, Haojia ; Zhang, Dedong...
ISPRS Journal of Photogrammetry and Remote Sensing.  159 (2020)  - p. 90-100 , 2020
Link: https://doi.org/10.1016/j.isprsjprs.2019.10.015