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Superquadric Segmentation in Range Images via Fusion of Reg..:

Katsoulas, D. ; Bastidas, C.C. ; Kosmopoulos, D.
IEEE Transactions on Pattern Analysis and Machine Intelligence.  30 (2008)  5 - p. 781-795 , 2008
Link: https://doi.org/10.1109/tpami.2007.70736