@InProceedings{jue:09k, author = {M. Rabl and L. Gonzalez-Vega and B. J\"uttler and H.-P. Schr\"ocker}, title = {Oriented bounding surfaces with at most six common normals}, booktitle = {Proc. Int. Conf. on Robotics and Automation}, publisher = {IEEE}, year = {2009}, pages = {465--470} }