@article{realtimehierarchicalclusteringbasedon,
  title = {Realtime Hierarchical Clustering based on Boundary and Surface Statistics},
  author = {Dominik Alexander Klein and Dirk Schulz and Armin Bernd Cremers},
  year = {2016},
  eprint = {1609.06896},
  archivePrefix = {arXiv},
  url = {http://arxiv.org/abs/1609.06896v1},
}