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Bamieh B. and Figueiredo, R.D. (1986) A General Moment Invariants Attributed-Graph Method for Three-Dimensional Object Recognition from a Single Image. IEEE Journal of Robotics and Automation, 2, 31-41.
http://ieeexplore.ieee.org/document/1087034/
https://doi.org/10.1109/JRA.1986.1087034

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