Artur Wilkowski Tomasz Kornuta Wlodzimierz Kasprzak Point-Based Object Recognition in RGB-D Images. 593-604 2014 IEEE Conf. on Intelligent Systems (2) https://doi.org/10.1007/978-3-319-11310-4_51 conf/is/2014-2 db/conf/is/is2014-2.html#WilkowskiKK14