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Qualitative Representation of Planar Outlines., and . ECAI, page 224-228. IOS Press, (2000)A Hierarchy of Boundary-based Shape Descriptors., and . IJCAI, page 1359-1364. Morgan Kaufmann, (2001)Qualitative Outline Theory., and . IJCAI, page 1061-1066. Morgan Kaufmann, (1999)