Naoki Shibuya Yasuyuki Shimohata Tatsuya Harada Yasuo Kuniyoshi Smart extraction of desired object from color-distance image with user's tiny scribble. 2846-2853 2008 IROS http://dx.doi.org/10.1109/IROS.2008.4650613 conf/iros/2008 db/conf/iros/iros2008.html#ShibuyaSHK08