@article{rothe1996method,<br>  title = {The Method of Normalization to Determine Invariants},<br>  journal = {IEEE Trans. Pattern Anal. Mach. Intell.},<br>  author = {Irene Rothe and Herbert Süße and Klaus Voss},<br>  year = {1996},<br>  pages = {366--376},<br>}<br>