Joachim Schmidt Nils Hofemann Axel Haasch Jannik Fritsch Gerhard Sagerer Interacting with a mobile robot: Evaluating gestural object references. 3804-3809 2008 IROS http://dx.doi.org/10.1109/IROS.2008.4650649 conf/iros/2008 db/conf/iros/iros2008.html#SchmidtHHFS08