Bernt Schiele Martin Spengler Hannes Kruppa Towards Robust Perception and Model Integration. 141-158 2000 conf/dagstuhl/2000sbir Sensor Based Intelligent Robots http://link.springer.de/link/service/series/0558/bibs/2238/22380141.htm db/conf/dagstuhl/sbir2000.html#SchieleSK00