Randal C. Nelson Generating Verbal Descriptions of Colored Objects: Towards Grounding Language in Perception. 46-53 2005 conf/wacv/2005 WACV/MOTION http://doi.ieeecomputersociety.org/10.1109/ACVMOT.2005.56 db/conf/wacv/wacv2005.html#Nelson05