Yasushi Makihara Masao Takizawa Yoshiaki Shirai Jun Miura Nobutaka Shimada Object Recognition Supported by User Interaction for Service Robots. 561-564 2002 ICPR (3) http://doi.ieeecomputersociety.org/10.1109/ICPR.2002.1048001 db/conf/icpr/icpr2002-3.html#MakiharaTSMS02