@article{cloudsoforientedgradientsfor3ddetection,
  title = {Clouds of Oriented Gradients for 3D Detection of Objects, Surfaces, and Indoor Scene Layouts},
  author = {Zhile Ren and Erik B. Sudderth},
  year = {2019},
  eprint = {1906.04725},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/1906.04725v1},
}