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M. Kaindl, W. Kropatsch:
"A concept for shape representation with linked local coordinate systems";
Vortrag: 21st Computer Vision Winter Workshop (CVWW2016), Rimske Toplice, Slovenia; 03.02.2016 - 05.02.2016; in: "Proceedings of the 21st Computer Vision Winter Workshop", L. Cehovin, R. Mandeljc, V. Struc (Hrg.); Slovenian Pattern Recognition Society, Ljubljana, February 2016 (2016), ISBN: 978-961-90901-7-6; 9 S.

This paper discusses a concept for the repre-
sentation of n-dimensional shapes by means of a
model, based on linked local coordinate systems.
Through application of the medial axis transform
(MAT) and decomposition of the resulting medial
axis (MA), articulated, as well as non-rigid abstract
n-dimensional bodies can be described by defining
corresponding local coordinate systems for each ele-
ment. This should allow a distinct and invariant rep-
resentation of every point of the shape, which can be
used for complex composite transformations of the
object in the context of robotic manipulation.

http://publik.tuwien.ac.at/files/publik_252746.pdf