Marek Franaszek Geraldine S. Cheok Kamel S. Saidi Christoph Witzgall Fitting Spheres to Range Data From 3-D Imaging Systems. 3544-3553 2009 58 IEEE Trans. Instrum. Meas. 10 https://doi.org/10.1109/TIM.2009.2018011 db/journals/tim/tim58.html#FranaszekCSW09