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Choi H.I., Choi S.W., Moon H.P., Wee N.-S. New algorithm for medial axis transform of plane domain. Graphical Models and Image Processing. 59:(6):1997;463-483.
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Medial axis transform and offset curves by Minkowski Pythagorean hodograph curves
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Clifford algebra, spin representation and rational parametrization of curves and surfaces
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Two moving coordinate frames for sweeping along a 3D trajectory
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Computing rational parametrization of canal surfaces
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