@InProceedings{LIS50,<br>title = {An Automatic Tube Inspection System that Finds Cylinders inRange Data},<br>author = {W.E.L.Grimson and T. Lozano-Perez and N. Noble and S.J. White},<br>year = {1993},<br>url = {http://lis.csail.mit.edu/pubs/tlp/tube-inspection.pdf},<br>pages = {446--452},<br>booktitle = {Computer  Vision and Pattern Recognition Conference (CVPR)},<br>}