Bastian Leibe Ales Leonardis Bernt Schiele Robust Object Detection with Interleaved Categorization and Segmentation. 259-289 2008 77 International Journal of Computer Vision 1-3 http://dx.doi.org/10.1007/s11263-007-0095-3 db/journals/ijcv/ijcv77.html#LeibeLS08