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MR1839146 (2002c:68091) 68T45 (65J05 68U05)
Olver, Peter J. Moving frames---in geometry, algebra, computer vision, and numerical analysis. Foundations of computational mathematics (Oxford, 1999), 267--297, London Math. Soc. Lecture Note Ser., 284, Cambridge Univ. Press, Cambridge, 2001.
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