The principal frame and principal quadric form a fundamental description of a smooth surface at a point. This paper is concerned with estimating these from the 3D data acquired by a sensor such as a structured light system. Eight diierent estimation methods are described and a comparison of their performance is presented.

This paper explores principal-principal conflicts in corporate governance during times of economic crisis. We address the question: What external and internal governance mechanisms can best protect minority shareholders? Drawing on 877 publicly listed large corporations with concentrated ownership in seven Asian countries and regions, we compare different control structures between family firms...