Theo Gevers Harro M. G. Stokman Robust Histogram Construction from Color Invariants for Object Recognition. 113-117 2004 26 IEEE Trans. Pattern Anal. Mach. Intell. 1 http://csdl.computer.org/comp/trans/tp/2004/01/i0113abs.htm db/journals/pami/pami26.html#GeversS04