Dietrich Paulus Ulrike Ahlrichs Benno Heigl Joachim Denzler Joachim Hornegger Heinrich Niemann Active Knowledge-Based Scene Analysis. 180-199 http://dx.doi.org/10.1007/3-540-49256-9_12 1999 conf/icvs/1999 ICVS db/conf/icvs/icvs1999.html#PaulusAHDHN99