Christian Schellewald Stefan Roth Christoph Schnörr Evaluation of a convex relaxation to a quadratic assignment matching approach for relational object views. 1301-1314 2007 25 Image Vision Comput. 8 http://dx.doi.org/10.1016/j.imavis.2006.08.005 db/journals/ivc/ivc25.html#SchellewaldRS07