Pedro Quelhas Florent Monay Jean-Marc Odobez Daniel Gatica-Perez Tinne Tuytelaars A Thousand Words in a Scene. 1575-1589 2007 29 IEEE Trans. Pattern Anal. Mach. Intell. 9 http://doi.ieeecomputersociety.org/10.1109/TPAMI.2007.1155 db/journals/pami/pami29.html#QuelhasMOGT07