@article {nardi2019ral,
	title = {Unified Representation and Registration of Heterogeneous Sets of Geometric Primitives},
	journal = {IEEE Robotics and Automation Letters},
	volume = {4},
	number = {2},
	year = {2019},
	month = {April},
	pages = {625-632},
	keywords = {Cameras, Convergence, Eigenvalues and eigenfunctions, localization, Shape, Simultaneous localization and mapping, SLAM, Three-dimensional displays},
	issn = {2377-3766},
	doi = {10.1109/LRA.2019.2891989},
	author = {F. Nardi and B. Della Corte and G. Grisetti}
}
