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reference. Sphere tracing: A geometric method for the antialiased ray tracing of implicit surfaces [hart1996sphere]

@article{hart1996sphere,
 title = {Sphere tracing: A geometric method for the antialiased ray tracing of implicit surfaces},
 author = {Hart, John C},
 year = {1996},
 journal = {The Visual Computer},
 volume = {12},
 number = {10},
 pages = {527--545},
 publisher = {Springer-Verlag Berlin/Heidelberg}
}