Carlos Esteves Christine Allen-Blanchette Ameesh Makadia Kostas Daniilidis Learning SO(3) Equivariant Representations with Spherical CNNs. 54-70 2018 ECCV (13) https://doi.org/10.1007/978-3-030-01261-8_4 conf/eccv/2018-13 db/conf/eccv/eccv2018-13.html#EstevesAMD18