@article{numericalapproachesforlinearleft,
  title = {Numerical Approaches for Linear Left-invariant Diffusions on SE(2), their Comparison to Exact Solutions, and their Applications in Retinal Imaging},
  author = {Jiong Zhang and Remco Duits and Gonzalo Sanguinetti and Bart M. ter Haar Romeny},
  year = {2014},
  eprint = {1403.3320},
  archivePrefix = {arXiv},
  url = {http://arxiv.org/abs/1403.3320v7},
}