I tried implementing the same paper's algorithm in the past and somewhat succeeded - but gave up in the end. Precumputing the automatons was slow as hell, I came to a similar conclusion as the authors (N > 2 isn't really feasible, but was something I was interested in) and my plumbing sucked.

I'm really not experienced reading papers and this was the only one I ever tried, so I cannot compare it to others. It certainly was quite hard to follow for me and took some month of nightly dabbling before I reached the point above.