@article{SIG07CATCH,
    author  = {Xinyu Zhang and Stephane Redon and Minkyoung Lee and Young J. Kim},
    title   = {Continuous Collision Detection for Articulated Models using Taylor Models and Temporal Culling},
    journal = {ACM Transactions on Graphics (Proceedings of SIGGRAPH 2007)},
    year    = {2007},
    volume  = {26},
    number  = {3},
    pages   = {15},
}