Dimitrios Katsoulas Reliable Recovery of Piled Box-like Objects via Parabolically Deformable Superquadrics. 931-938 2003 conf/iccv/2003 ICCV http://csdl.computer.org/comp/proceedings/iccv/2003/1950/02/195020931abs.htm db/conf/iccv/iccv2003-2.html#Katsoulas03