Matthias Zobel Joachim Denzler Benno Heigl Elmar Nöth Dietrich Paulus Jochen Schmidt Georg Stemmer MOBSY: Integration of vision and dialogue in service robots. 26-34 2003 14 Mach. Vis. Appl. 1 http://dx.doi.org/10.1007/s00138-002-0092-z db/journals/mva/mva14.html#ZobelDHNPSS03