Amr Almaddah Yasushi Mae Kenichi Ohara Tomohito Takubo Tatsuo Arai Visual and physical segmentation of novel objects. 807-812 2011 IROS http://dx.doi.org/10.1109/IROS.2011.6094755 conf/iros/2011 db/conf/iros/iros2011.html#AlmaddahMOTA11