@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} }