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Drost, B., Ulrich, M., Navab, N. and Ilic, S. (2010) Model Globally, Match Locally: Efficient and Robust 3D Object Recognition. IEEE Conference on Computer Vision and Pattern Recognition, San Francisco, 13-18 June 2010, 998- 1005.
http://dx.doi.org/10.1109/cvpr.2010.5540108
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