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IEEE Transactions on Robotics > 2016 > 32 > 5 > 1245 - 1263
IEEE Transactions on Robotics > 2009 > 25 > 5 > 1030 - 1046
2008 Congress on Image and Signal Processing > 3 > 104 - 107
2008 Congress on Image and Signal Processing > 2 > 29 - 33