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MR1763734 (2001b:68137) 68U05 (52B55 70B15)
de Berg, Mark; van Kreveld, Marc; Overmars, Mark; Schwarzkopf, Otfried Computational geometry. Algorithms and applications. Second, revised edition. Springer-Verlag, Berlin, 2000. xii+367 pp. ISBN: 3-540-65620-0
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