Surface characterization for three-dimensional object recognition in depth maps

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1 January 1984
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http://deepblue.lib.umich.edu/bitstream/2027.42/3569/5/anf5944.0001.001.pdfhttp://deepblue.lib.umich.edu/bitstream/2027.42/3569/4/anf5944.0001.001.tx

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