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Cited article:

Rapid and Inexpensive Inertia Tensor Estimation From a Single Object Throw

Till M. Blaha, Mike M. Kuijper, Radu Pop and Ewoud J.J. Smeur
IEEE Robotics and Automation Letters 10 (7) 7365 (2025)
https://doi.org/10.1109/LRA.2025.3575332