RGB-D Edge Detection and Edge-Based Registration. Choi, C., Trevor, A., & Christensen, H. I. In IROS, Tokyo, November, 2013. IEEE/RSJ.
bibtex   
@inproceedings{choi13:rgbdedgedetecedgebasedregis,
  address       = {Tokyo},
  author        = {C. Choi and A. Trevor and H. I. Christensen},
  booktitle     = {IROS},
  category      = {Conference},
  month         = nov,
  organization  = {IEEE/RSJ},
  title         = {{RGB-D} {E}dge {D}etection and {E}dge-{B}ased {R}egistration},
  year          = 2013
}

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