@mastersthesis {7628,
	title = {Pipe spool recognition in cluttered point clouds using a curvature-based shape descriptor, Automation in Construction},
	year = {2016},
	url = {http://www.sciencedirect.com/science/article/pii/S0926580516301650},
	author = {Czerniawski, T. and Nahangi, M. and Haas, C. and Walbridge, S.}
}