Many of these publications are copyrighted by their respective publishers. Downloadable versions are not necessarily identical to the published versions. They are made available here for personal use only.

1. R. Detry, C. H. Ek, M. Madry and D. Kragic, Learning a Dictionary of Prototypical Grasp-predicting Parts from Grasping Experience. In IEEE International Conference on Robotics and Automation, 2013.
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   @inproceedings{detry2013a,
   	Author = {Renaud Detry and Carl Henrik Ek and Marianna Madry and Danica Kragic},
   	Booktitle = {{IEEE} International Conference on Robotics and Automation},
   	Title = {Learning a Dictionary of Prototypical Grasp-predicting Parts from Grasping Experience},
   	Year = {2013}}

2. R. Detry, M. Hjelm, C. H. Ek and D. Kragic, Generalizing Task Parameters Through Modularization. In Autonomous Learning Workshop (Workshop at ICRA 2013), 2013.
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   @inproceedings{detry2013b,
   	Author = {Renaud Detry and Martin Hjelm and Carl Henrik Ek and Danica Kragic},
   	Booktitle = {Autonomous Learning Workshop (Workshop at ICRA 2013)},
   	Title = {Generalizing Task Parameters Through Modularization},
   	Year = {2013}}

3. R. Detry and J. Piater, Unsupervised Learning Of Predictive Parts For Cross-object Grasp Transfer. In IEEE/RSJ International Conference on Intelligent Robots and Systems, 2013.
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   @inproceedings{detry2013c,
   	Author = {Renaud Detry and Justus Piater},
   	Booktitle = {{IEEE/RSJ} International Conference on Intelligent Robots and Systems},
   	Title = {Unsupervised Learning Of Predictive Parts For Cross-object Grasp Transfer},
   	Year = {2013}}

4. M. Hjelm, C. H. Ek, R. Detry, H. Kjellström and D. Kragic, Sparse Summarization of Robotic Grasp Data. In IEEE International Conference on Robotics and Automation, 2013.
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   @inproceedings{hjelm2013a,
   	Author = {Martin Hjelm and Carl Henrik Ek and Renaud Detry and Hedvig Kjellström and Danica Kragic},
   	Booktitle = {{IEEE} International Conference on Robotics and Automation},
   	Title = {Sparse Summarization of Robotic Grasp Data},
   	Year = {2013}}

5. A. Rietzler, R. Detry and J. Piater, Inertially-safe Grasping of Novel Objects. In Cognitive Robotics Systems: Replicating Human Actions and Activities (Workshop at IROS 2013), 2013.
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   @inproceedings{rietzler2013a,
   	Author = {Alexander Rietzler and Renaud Detry and Justus Piater},
   	Booktitle = {Cognitive Robotics Systems: Replicating Human Actions and Activities (Workshop at IROS 2013)},
   	Title = {Inertially-safe Grasping of Novel Objects},
   	Year = {2013}}

6. Y. Bekiroglu, R. Detry and D. Kragic, Grasp Stability from Vision and Touch. In Advances in Tactile Sensing and Touch-based Human Robot Interaction (Workshop at IROS 2012), 2012.
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   @inproceedings{bekiroglu2012b,
   	Author = {Yasemin Bekiroglu and Renaud Detry and Danica Kragic},
   	Booktitle = {Advances in Tactile Sensing and Touch-based Human Robot Interaction (Workshop at IROS 2012)},
   	Title = {Grasp Stability from Vision and Touch},
   	Year = {2012}}

7. R. Detry, C. H. Ek, M. Madry, J. Piater and D. Kragic, Generalizing Grasps Across Partly Similar Objects. In IEEE International Conference on Robotics and Automation, 2012.
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   @inproceedings{detry2012a,
   	Author = {Renaud Detry and Carl Henrik Ek and Marianna Madry and Justus Piater and Danica Kragic},
   	Booktitle = {{IEEE} International Conference on Robotics and Automation},
   	Doi = {10.1109/ICRA.2012.6224992},
   	Title = {Generalizing Grasps Across Partly Similar Objects},
   	Year = {2012}}

8. R. Detry, C. H. Ek, M. Madry and D. Kragic, Compressing Grasping Experience into a Dictionary of Prototypical Grasp-predicting Parts. In International Workshop on Human-Friendly Robotics, 2012.
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   @inproceedings{detry2012b,
   	Author = {Renaud Detry and Carl Henrik Ek and Marianna Madry and Danica Kragic},
   	Booktitle = {International Workshop on Human-Friendly Robotics},
   	Title = {Compressing Grasping Experience into a Dictionary of Prototypical Grasp-predicting Parts},
   	Year = {2012}}

9. M. Madry, C. H. Ek, R. Detry, K. Hang and D. Kragic, Improving Generalization for 3D Object Categorization with Global Structure Histograms. In IEEE/RSJ International Conference on Intelligent Robots and Systems, 2012. (Best cognitive paper award).
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   @inproceedings{madry2012a,
   	Author = {Marianna Madry and Carl Henrik Ek and Renaud Detry and Kaiyu Hang and Danica Kragic},
   	Booktitle = {{IEEE/RSJ} International Conference on Intelligent Robots and Systems},
   	Doi = {10.1109/IROS.2012.6385874},
   	Note = {Best cognitive paper award},
   	Title = {Improving Generalization for 3D Object Categorization with Global Structure Histograms},
   	Year = {2012}}

10. Y. Bekiroglu, R. Detry and D. Kragic, Joint Observation of Object Pose and Tactile Imprints for Online Grasp Stability Assessment. In Manipulation Under Uncertainty (Workshop at IEEE ICRA 2011), 2011.
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    @inproceedings{bekiroglu2011c,
    	Author = {Yasemin Bekiroglu and Renaud Detry and Danica Kragic},
    	Booktitle = {Manipulation Under Uncertainty (Workshop at {IEEE} {ICRA} 2011)},
    	Title = {Joint Observation of Object Pose and Tactile Imprints for Online Grasp Stability Assessment},
    	Year = {2011}}

11. Y. Bekiroglu, R. Detry and D. Kragic, Learning Tactile Characterizations Of Object- And Pose-specific Grasps. In IEEE/RSJ International Conference on Intelligent Robots and Systems, 2011.
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    @inproceedings{bekiroglu2011d,
    	Author = {Yasemin Bekiroglu and Renaud Detry and Danica Kragic},
    	Booktitle = {{IEEE/RSJ} International Conference on Intelligent Robots and Systems},
    	Doi = {10.1109/IROS.2011.6094878},
    	Title = {Learning Tactile Characterizations Of Object- And Pose-specific Grasps},
    	Year = {2011}}

12. L. Bodenhagen, R. Detry, J. Piater and N. Krüger, What a successful grasp tells about the success chances of grasps in its vicinity. In ICDL-EpiRob, 2011.
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    @inproceedings{bodenhagen2011a,
    	Author = {Leon Bodenhagen and Renaud Detry and Justus Piater and Norbert Krüger},
    	Booktitle = {ICDL-EpiRob},
    	Title = {What a successful grasp tells about the success chances of grasps in its vicinity},
    	Year = {2011}}

13. R. Detry, D. Kraft, O. Kroemer, L. Bodenhagen, J. Peters, N. Krüger and J. Piater, Learning Grasp Affordance Densities. In Paladyn. Journal of Behavioral Robotics, 2 (1): 1–17, 2011.
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    @article{detry2011a,
    	Author = {R. Detry and D. Kraft and O. Kroemer and L. Bodenhagen and J. Peters and N. Krüger and J. Piater},
    	Doi = {10.2478/s13230-011-0012-x},
    	Journal = {Paladyn.\ Journal of Behavioral Robotics},
    	Number = {1},
    	Pages = {1--17},
    	Title = {Learning Grasp Affordance Densities},
    	Volume = {2},
    	Year = {2011}}

14. R. Detry and J. Piater, Grasp Generalization Via Predictive Parts. In Austrian Robotics Workshop, 2011.
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    @inproceedings{detry2011b,
    	Author = {Renaud Detry and Justus Piater},
    	Booktitle = {Austrian Robotics Workshop},
    	Title = {Grasp Generalization Via Predictive Parts},
    	Year = {2011}}

15. J. Piater, S. Jodogne, R. Detry, D. Kraft, N. Krüger, O. Kroemer and J. Peters, Learning Visual Representations for Perception-Action Systems. In International Journal of Robotics Research, 30 (3): 294–307, 2011.
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    @article{piater2011a,
    	Author = {Justus Piater and Sébastien Jodogne and Renaud Detry and Dirk Kraft and Norbert Krüger and Oliver Kroemer and Jan Peters},
    	Doi = {10.1177/0278364910382464},
    	Journal = {International Journal of Robotics Research},
    	Number = {3},
    	Pages = {294--307},
    	Title = {Learning Visual Representations for Perception-Action Systems},
    	Volume = {30},
    	Year = {2011}}

16. R. Detry, E. Başeski, M. Popović, Y. Touati, N. Krüger, O. Kroemer, J. Peters and J. Piater, Learning Continuous Grasp Affordances by Sensorimotor Exploration. In From Motor Learning to Interaction Learning in Robots, pages 451–465, Springer-Verlag, 2010.
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    @incollection{detry2010a,
    	Author = {Renaud Detry and Emre Başeski and Mila Popović and Younes Touati and Norbert Krüger and Oliver Kroemer and Jan Peters and Justus Piater},
    	Booktitle = {From Motor Learning to Interaction Learning in Robots},
    	Doi = {10.1007/978-3-642-05181-4_19},
    	Editor = {Olivier Sigaud and Jan Peters},
    	Pages = {451--465},
    	Publisher = {Springer-Verlag},
    	Title = {Learning Continuous Grasp Affordances by Sensorimotor Exploration},
    	Year = {2010}}

17. R. Detry, D. Kraft, A. G. Buch, N. Krüger and J. Piater, Refining Grasp Affordance Models by Experience. In IEEE International Conference on Robotics and Automation, pages 2287–2293, 2010.
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    @inproceedings{detry2010b,
    	Author = {Renaud Detry and Dirk Kraft and Anders Glent Buch and Norbert Krüger and Justus Piater},
    	Booktitle = {{IEEE} International Conference on Robotics and Automation},
    	Doi = {10.1109/ROBOT.2010.5509126},
    	Pages = {2287--2293},
    	Title = {Refining Grasp Affordance Models by Experience},
    	Year = {2010}}

18. R. Detry and J. Piater, Continuous Surface-point Distributions for 3D Object Pose Estimation and Recognition. In Asian Conference on Computer Vision, pages 572–585, 2010.
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    @inproceedings{detry2010c,
    	Author = {Renaud Detry and Justus Piater},
    	Booktitle = {Asian Conference on Computer Vision},
    	Doi = {10.1007/978-3-642-19318-7_45},
    	Pages = {572--585},
    	Title = {Continuous Surface-point Distributions for {3D} Object Pose Estimation and Recognition},
    	Year = {2010}}

19. R. Detry, Learning of Multi-Dimensional, Multi-Modal Features for Robotic Grasping. Ph.D. Thesis, University of Liège, 2010.
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    @phdthesis{detry2010d,
    	Author = {Renaud Detry},
    	School = {University of Liège},
    	Title = {Learning of Multi-Dimensional, Multi-Modal Features for Robotic Grasping},
    	Year = {2010}}

20. A. Erkan, O. Kroemer, R. Detry, Y. Altun, J. Piater and J. Peters, Learning Probabilistic Discriminative Models of Grasp Affordances under Limited Supervision. In IEEE/RSJ International Conference on Intelligent Robots and Systems, pages 1586–1591, 2010.
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    @inproceedings{erkan2010a,
    	Author = {Ayse Erkan and Oliver Kroemer and Renaud Detry and Yasemin Altun and Justus Piater and Jan Peters},
    	Booktitle = {{IEEE/RSJ} International Conference on Intelligent Robots and Systems},
    	Doi = {10.1109/IROS.2010.5650088},
    	Pages = {1586--1591},
    	Title = {Learning Probabilistic Discriminative Models of Grasp Affordances under Limited Supervision},
    	Year = {2010}}

21. D. Kraft, R. Detry, N. Pugeault, E. Başeski, F. Guerin, J. Piater and N. Krüger, Development of Object and Grasping Knowledge by Robot Exploration. In IEEE Transactions on Autonomous Mental Development, 2 (4): 368–383, 2010.
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    @article{kraft2010a,
    	Author = {Dirk Kraft and Renaud Detry and Nicolas Pugeault and Emre Başeski and Frank Guerin and Justus Piater and Norbert Krüger},
    	Doi = {10.1109/TAMD.2010.2069098},
    	Journal = {{IEEE} Transactions on Autonomous Mental Development},
    	Number = {4},
    	Pages = {368--383},
    	Title = {Development of Object and Grasping Knowledge by Robot Exploration},
    	Volume = {2},
    	Year = {2010}}

22. O. Kroemer, R. Detry, J. Piater and J. Peters, Adapting Preshaped Grasping Movements using Vision Descriptors. In From Animals to Animats 11 – International Conference on the Simulation of Adaptive Behavior, pages 156–166, 2010.
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    @inproceedings{kroemer2010a,
    	Author = {Oliver Kroemer and Renaud Detry and Justus Piater and Jan Peters},
    	Booktitle = {From Animals to Animats 11 -- International Conference on the Simulation of Adaptive Behavior},
    	Doi = {10.1007/978-3-642-15193-4_15},
    	Pages = {156--166},
    	Title = {Adapting Preshaped Grasping Movements using Vision Descriptors},
    	Volume = {6226},
    	Year = {2010}}

23. O. Kroemer, R. Detry, J. Piater and J. Peters, Grasping with Vision Descriptors and Motor Primitives. In International Conference on Informatics in Control, Automation and Robotics, 2010.
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    @inproceedings{kroemer2010b,
    	Author = {Oliver Kroemer and Renaud Detry and Justus Piater and Jan Peters},
    	Booktitle = {International Conference on Informatics in Control, Automation and Robotics},
    	Title = {Grasping with Vision Descriptors and Motor Primitives.},
    	Year = {2010}}

24. O. Kroemer, R. Detry, J. Piater and J. Peters, Combining Active Learning and Reactive Control for Robot Grasping. In Robotics and Autonomous Systems, 58 (9): 1105–1116, 2010.
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    @article{kroemer2010c,
    	Author = {Oliver Kroemer and Renaud Detry and Justus Piater and Jan Peters},
    	Doi = {10.1016/j.robot.2010.06.001},
    	Journal = {Robotics and Autonomous Systems},
    	Number = {9},
    	Pages = {1105--1116},
    	Title = {Combining Active Learning and Reactive Control for Robot Grasping},
    	Volume = {58},
    	Year = {2010}}

25. R. Detry, N. Pugeault and J. Piater, A Probabilistic Framework for 3D Visual Object Representation. In IEEE Trans. Pattern Anal. Mach. Intell., 31 (10): 1790–1803, 2009.
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    @article{detry2009a,
    	Author = {Renaud Detry and Nicolas Pugeault and Justus Piater},
    	Doi = {10.1109/TPAMI.2009.64},
    	Journal = {{IEEE} Trans. Pattern Anal. Mach. Intell.},
    	Number = {10},
    	Pages = {1790--1803},
    	Publisher = {IEEE Computer Society},
    	Title = {A Probabilistic Framework for {3D} Visual Object Representation},
    	Volume = {31},
    	Year = {2009}}

26. R. Detry, E. Başeski, N. Krüger, M. Popović, Y. Touati and J. Piater, Autonomous Learning of Object-specific Grasp Affordance Densities. In Approaches to Sensorimotor Learning on Humanoid Robots (Workshop at the IEEE International Conference on Robotics and Automation), 2009.
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    @inproceedings{detry2009b,
    	Author = {Renaud Detry and Emre Başeski and Norbert Krüger and Mila Popović and Younes Touati and Justus Piater},
    	Booktitle = {Approaches to Sensorimotor Learning on Humanoid Robots (Workshop at the IEEE International Conference on Robotics and Automation)},
    	Title = {Autonomous Learning of Object-specific Grasp Affordance Densities},
    	Year = {2009}}

27. R. Detry, E. Başeski, N. Krüger, M. Popović, Y. Touati, O. Kroemer, J. Peters and J. Piater, Learning Object-specific Grasp Affordance Densities. In IEEE International Conference on Development and Learning, pages 1–7, 2009.
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    @inproceedings{detry2009c,
    	Author = {Renaud Detry and Emre Başeski and Norbert Krüger and Mila Popović and Younes Touati and Oliver Kroemer and Jan Peters and Justus Piater},
    	Booktitle = {{IEEE} International Conference on Development and Learning},
    	Doi = {10.1109/DEVLRN.2009.5175520},
    	Pages = {1--7},
    	Title = {Learning Object-specific Grasp Affordance Densities},
    	Year = {2009}}

28. D. Kraft, R. Detry, N. Pugeault, E. Başeski, J. Piater and N. Krüger, Learning Objects and Grasp Affordances through Autonomous Exploration. In International Conference on Computer Vision Systems, pages 235–244, 2009.
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    @inproceedings{kraft2009b,
    	Author = {Dirk Kraft and Renaud Detry and Nicolas Pugeault and Emre Başeski and Justus Piater and Norbert Krüger},
    	Booktitle = {International Conference on Computer Vision Systems},
    	Doi = {10.1007/978-3-642-04667-4_24},
    	Pages = {235--244},
    	Title = {Learning Objects and Grasp Affordances through Autonomous Exploration},
    	Volume = {5815},
    	Year = {2009}}

29. O. Kroemer, R. Detry, J. Piater and J. Peters, Active Learning using Mean Shift Optimization for Robot Grasping. In IEEE/RSJ International Conference on Intelligent Robots and Systems, pages 2610–2615, 2009.
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    @inproceedings{kroemer2009a,
    	Author = {Oliver Kroemer and Renaud Detry and Justus Piater and Jan Peters},
    	Booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems},
    	Doi = {10.1109/IROS.2009.5354345},
    	Pages = {2610--2615},
    	Title = {Active Learning using Mean Shift Optimization for Robot Grasping},
    	Year = {2009}}

30. J. Piater, S. Jodogne, R. Detry, D. Kraft, N. Krüger, O. Kroemer and J. Peters, Learning Visual Representations for Interactive Systems. In International Symposium on Robotics Research, 2009.
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    @inproceedings{piater2009a,
    	Author = {Justus Piater and Sébastien Jodogne and Renaud Detry and Dirk Kraft and Norbert Krüger and Oliver Kroemer and Jan Peters},
    	Booktitle = {International Symposium on Robotics Research},
    	Title = {Learning Visual Representations for Interactive Systems},
    	Year = {2009}}

31. R. Detry, N. Pugeault and J. H. Piater, Probabilistic Pose Recovery Using Learned Hierarchical Object Models. In International Cognitive Vision Workshop (Workshop at the 6th International Conference on Vision Systems), pages 107–120, Springer-Verlag, Berlin, Heidelberg, 2008.
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    @inproceedings{detry2008a,
    	Author = {Renaud Detry and Nicolas Pugeault and Justus H. Piater},
    	Booktitle = {International Cognitive Vision Workshop (Workshop at the 6th International Conference on Vision Systems)},
    	Doi = {10.1007/978-3-540-92781-5_9},
    	Pages = {107--120},
    	Publisher = {Springer-Verlag},
    	Title = {Probabilistic Pose Recovery Using Learned Hierarchical Object Models},
    	Year = {2008}}

32. D. Kraft, E. Başeski, M. Popović, A. M. Batog, A. Kjær-Nielsen, N. Krüger, R. Petrick, C. Geib, N. Pugeault, M. Steedman, T. Asfour, R. Dillmann, S. Kalkan, F. Wörgötter, B. Hommel, R. Detry and J. Piater, Exploration and Planning in a Three-Level Cognitive Architecture. In International Conference on Cognitive Systems (Workshop at the IEEE International Conference on Robotics and Automation), 2008. (Extended Abstract).
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    @inproceedings{kraft2008a,
    	Author = {D. Kraft and E. Başeski and M. Popović and A. M. Batog and A. Kjær-Nielsen and N. Krüger and R. Petrick and C. Geib and N. Pugeault and M. Steedman and T. Asfour and R. Dillmann and S. Kalkan and F. Wörgötter and B. Hommel and R. Detry and J. Piater},
    	Booktitle = {International Conference on Cognitive Systems (Workshop at the IEEE International Conference on Robotics and Automation)},
    	Note = {Extended Abstract},
    	Title = {Exploration and Planning in a Three-Level Cognitive Architecture},
    	Year = {2008}}

33. J. Piater, F. Scalzo and R. Detry, Vision as Inference in a Hierarchical Markov Network. In International Conference on Cognitive and Neural Systems, 2008. (Extended Abstract).
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    @inproceedings{piater2008a,
    	Author = {Justus Piater and Fabien Scalzo and Renaud Detry},
    	Booktitle = {International Conference on Cognitive and Neural Systems},
    	Note = {Extended Abstract},
    	Title = {Vision as Inference in a Hierarchical Markov Network},
    	Year = {2008}}

34. J. Piater and R. Detry, 3D Probabilistic Representations for Vision and Action. In Robotics Challenges for Machine Learning II (Workshop at the IEEE/RSJ International Conference on Intelligent Robots and Systems), 2008. (Extended Abstract).
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    @inproceedings{piater2008b,
    	Author = {Justus Piater and Renaud Detry},
    	Booktitle = {Robotics Challenges for Machine Learning II (Workshop at the IEEE/RSJ International Conference on Intelligent Robots and Systems)},
    	Note = {Extended Abstract},
    	Title = {{3D} Probabilistic Representations for Vision and Action},
    	Year = {2008}}

35. R. Detry and J. H. Piater, Hierarchical Integration of Local 3D Features for Probabilistic Pose Recovery. In Robot Manipulation: Sensing and Adapting to the Real World (Workshop at Robotics, Science and Systems), 2007.
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    @inproceedings{detry2007a,
    	Author = {Renaud Detry and Justus H. Piater},
    	Booktitle = {Robot Manipulation: Sensing and Adapting to the Real World (Workshop at Robotics, Science and Systems)},
    	Title = {Hierarchical Integration of Local {3D} Features for Probabilistic Pose Recovery},
    	Year = {2007}}