Paper on Detecting Arcs and generate G2/G3
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I've linked to the Slic3r GitHub issue already a couple of times. Now the paper that is the base for this new implementation has been made public by its author:
Polyline defined NC trajectories parametrization (by Honorio Salmeron Valdivieso, on arxiv.org)
He will also release the MatLab source code soon and the Slic3r integration is already in development because the paper was made available for some of their developers beforehand.
UPDATE: Here is the link to his MatLab code