D.  Breitenreicher and Schnörr, C., ?Model-Based Multiple Rigid Object Detection and Registration in Unstructured Range Data?, Int.~J.~Comp.~Vision, vol. 92, p. 32--52, 2011.

D.  Breitenreicher and Schnörr, C., ?Model-Based Multiple Rigid Object Detection and Registration in Unstructured Range Data?, Int. J. Comp. Vision, vol. 92, pp. 32?52, 2011.