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http://oz.nthu.edu.tw/~d917904/papers/2016_TIE.pdf
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http://www.researchgate.net/profile/Huang-chia_Shih/publication/298727803_A_New_Model-Based_Rotation_and_Scaling-Invariant_Projection_Algorithm_for_Industrial_Automation_Application/links/5891e3cea6fdcc1b41468599/A-New-Model-Based-Rotation-and-Scaling-Invariant-Projection-Algorithm-for-Industrial-Automation-Application.pdf
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