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2020 – today
- 2021
[j34]Chilakala Sudhamani, Ashutosh Saxena, Aswini Vunnava:
Energy-efficient reporting scheme for cognitive radio networks. IET Networks 10(3): 110-117 (2021)- [j33]Vikas Tiwari, Neelima Jampala, Appala Naidu Tentu, Ashutosh Saxena:
Towards Finding Active Number of S-Boxes in Block Ciphers using Mixed Integer Linear Programming. Informatica (Slovenia) 45(6) (2021) - 2020
- [i49]Nan Rong, Joseph Y. Halpern, Ashutosh Saxena:
MDPs with Unawareness in Robotics. CoRR abs/2005.10381 (2020) - [i48]Ashutosh Saxena, David R. Cheriton:
Senior Living Communities: Made Safer by AI. CoRR abs/2007.05129 (2020)
2010 – 2019
- 2018
- [j32]Chenxia Wu
, Jiemi Zhang, Ozan Sener, Bart Selman, Silvio Savarese, Ashutosh Saxena:
Watch-n-Patch: Unsupervised Learning of Actions and Relations. IEEE Trans. Pattern Anal. Mach. Intell. 40(2): 467-481 (2018) - 2017
- [c109]Jaeyong Sung, Ian Lenz, Ashutosh Saxena:
Deep multimodal embedding: Manipulating novel objects with point-clouds, language and trajectories. ICRA 2017: 2794-2801 - [c108]Jaeyong Sung, J. Kenneth Salisbury, Ashutosh Saxena:
Learning to represent haptic feedback for partially-observable tasks. ICRA 2017: 2802-2809 - [i47]Jaeyong Sung, J. Kenneth Salisbury, Ashutosh Saxena:
Learning to Represent Haptic Feedback for Partially-Observable Tasks. CoRR abs/1705.06243 (2017) - 2016
- [j31]Dipendra Kumar Misra, Jaeyong Sung, Kevin Lee, Ashutosh Saxena:
Tell me Dave: Context-sensitive grounding of natural language to manipulation instructions. Int. J. Robotics Res. 35(1-3): 281-300 (2016) - [j30]Hema Swetha Koppula, Ashutosh Saxena:
Anticipating Human Activities Using Object Affordances for Reactive Robotic Response. IEEE Trans. Pattern Anal. Mach. Intell. 38(1): 14-29 (2016) - [j29]Yun Jiang, Hema Swetha Koppula, Ashutosh Saxena:
Modeling 3D Environments through Hidden Human Context. IEEE Trans. Pattern Anal. Mach. Intell. 38(10): 2040-2053 (2016) - [c107]Ashesh Jain, Amir Roshan Zamir, Silvio Savarese, Ashutosh Saxena:
Structural-RNN: Deep Learning on Spatio-Temporal Graphs. CVPR 2016: 5308-5317 - [c106]Chenxia Wu, Jiemi Zhang, Bart Selman, Silvio Savarese, Ashutosh Saxena:
Watch-Bot: Unsupervised learning for reminding humans of forgotten actions. ICRA 2016: 2479-2486 - [c105]Ashesh Jain, Avi Singh, Hema Swetha Koppula, Shane Soh, Ashutosh Saxena:
Recurrent Neural Networks for driver activity anticipation via sensory-fusion architecture. ICRA 2016: 3118-3125 - [c104]Ozan Sener, Hyun Oh Song, Ashutosh Saxena, Silvio Savarese:
Learning Transferrable Representations for Unsupervised Domain Adaptation. NIPS 2016: 2110-2118 - [c103]Nan Rong, Joseph Y. Halpern, Ashutosh Saxena:
MDPs with Unawareness in Robotics. UAI 2016 - [i46]Ashesh Jain, Hema Swetha Koppula, Shane Soh, Bharad Raghavan, Avi Singh, Ashutosh Saxena:
Brain4Cars: Car That Knows Before You Do via Sensory-Fusion Deep Learning Architecture. CoRR abs/1601.00740 (2016) - [i45]Ashesh Jain, Shikhar Sharma, Thorsten Joachims, Ashutosh Saxena:
Learning Preferences for Manipulation Tasks from Online Coactive Feedback. CoRR abs/1601.00741 (2016) - [i44]Jaeyong Sung, Seok Hyun Jin, Ian Lenz, Ashutosh Saxena:
Robobarista: Learning to Manipulate Novel Objects via Deep Multimodal Embedding. CoRR abs/1601.02705 (2016) - [i43]Ozan Sener, Hyun Oh Song, Ashutosh Saxena, Silvio Savarese:
Unsupervised Transductive Domain Adaptation. CoRR abs/1602.03534 (2016) - [i42]Chenxia Wu, Jiemi Zhang, Ozan Sener, Bart Selman, Silvio Savarese, Ashutosh Saxena:
Watch-n-Patch: Unsupervised Learning of Actions and Relations. CoRR abs/1603.03541 (2016) - [i41]Ozan Sener, Amir Roshan Zamir, Chenxia Wu, Silvio Savarese, Ashutosh Saxena:
Unsupervised Semantic Action Discovery from Video Collections. CoRR abs/1605.03324 (2016) - [i40]Chenxia Wu, Jiemi Zhang, Ashutosh Saxena, Silvio Savarese:
Human Centred Object Co-Segmentation. CoRR abs/1606.03774 (2016) - 2015
- [j28]Ian Lenz, Honglak Lee, Ashutosh Saxena:
Deep learning for detecting robotic grasps. Int. J. Robotics Res. 34(4-5): 705-724 (2015) - [j27]Ashesh Jain, Shikhar Sharma, Thorsten Joachims, Ashutosh Saxena:
Learning preferences for manipulation tasks from online coactive feedback. Int. J. Robotics Res. 34(10): 1296-1313 (2015) - [j26]Zhaoyin Jia, Andrew C. Gallagher, Ashutosh Saxena, Tsuhan Chen:
3D Reasoning from Blocks to Stability. IEEE Trans. Pattern Anal. Mach. Intell. 37(5): 905-918 (2015) - [c102]Dipendra Kumar Misra, Kejia Tao, Percy Liang, Ashutosh Saxena:
Environment-Driven Lexicon Induction for High-Level Instructions. ACL (1) 2015: 992-1002 - [c101]Chenxia Wu, Jiemi Zhang, Silvio Savarese, Ashutosh Saxena:
Watch-n-patch: Unsupervised understanding of actions and relations. CVPR 2015: 4362-4370 - [c100]Ashesh Jain, Hema Swetha Koppula, Bharad Raghavan, Shane Soh, Ashutosh Saxena:
Car that Knows Before You Do: Anticipating Maneuvers via Learning Temporal Driving Models. ICCV 2015: 3182-3190 - [c99]Ozan Sener, Amir Roshan Zamir, Silvio Savarese, Ashutosh Saxena:
Unsupervised Semantic Parsing of Video Collections. ICCV 2015: 4480-4488 - [c98]Ashesh Jain, Debarghya Das, Jayesh K. Gupta, Ashutosh Saxena:
PlanIt: A crowdsourcing approach for learning to plan paths from large scale preference feedback. ICRA 2015: 877-884 - [c97]Jaeyong Sung, Seok Hyun Jin, Ashutosh Saxena:
Robobarista: Object Part Based Transfer of Manipulation Trajectories from Crowd-Sourcing in 3D Pointclouds. ISRR (2) 2015: 701-720 - [c96]Ian Lenz, Ross A. Knepper, Ashutosh Saxena:
DeepMPC: Learning Deep Latent Features for Model Predictive Control. Robotics: Science and Systems 2015 - [c95]Ozan Sener, Ashutosh Saxena:
rCRF: Recursive Belief Estimation over CRFs in RGB-D Activity Videos. Robotics: Science and Systems 2015 - [i39]Ashesh Jain, Hema Swetha Koppula, Bharad Raghavan, Ashutosh Saxena:
Know Before You Do: Anticipating Maneuvers via Learning Temporal Driving Models. CoRR abs/1504.02789 (2015) - [i38]Jaeyong Sung, Seok Hyun Jin, Ashutosh Saxena:
Robobarista: Object Part based Transfer of Manipulation Trajectories from Crowd-sourcing in 3D Pointclouds. CoRR abs/1504.03071 (2015) - [i37]Ozan Sener, Amir Roshan Zamir, Silvio Savarese, Ashutosh Saxena:
Unsupervised Semantic Parsing of Video Collections. CoRR abs/1506.08438 (2015) - [i36]Ashesh Jain, Avi Singh, Hema Swetha Koppula, Shane Soh, Ashutosh Saxena:
Recurrent Neural Networks for Driver Activity Anticipation via Sensory-Fusion Architecture. CoRR abs/1509.05016 (2015) - [i35]Jaeyong Sung, Ian Lenz, Ashutosh Saxena:
Deep Multimodal Embedding: Manipulating Novel Objects with Point-clouds, Language and Trajectories. CoRR abs/1509.07831 (2015) - [i34]Ashesh Jain, Amir Roshan Zamir, Silvio Savarese, Ashutosh Saxena:
Structural-RNN: Deep Learning on Spatio-Temporal Graphs. CoRR abs/1511.05298 (2015) - [i33]Amit Garg, Jonathan Noyola, Romil Verma, Ashutosh Saxena, Aditya Jami:
Exploring Correlation between Labels to improve Multi-Label Classification. CoRR abs/1511.07953 (2015) - [i32]Matthew Long, Aditya Jami, Ashutosh Saxena:
Hierarchical classification of e-commerce related social media. CoRR abs/1511.08299 (2015) - [i31]Chenxia Wu, Jiemi Zhang, Bart Selman, Silvio Savarese, Ashutosh Saxena:
Watch-Bot: Unsupervised Learning for Reminding Humans of Forgotten Actions. CoRR abs/1512.04208 (2015) - 2014
- [j25]Heni Ben Amor, Ashutosh Saxena, Nicolas Hudson, Jan Peters:
Special issue on autonomous grasping and manipulation. Auton. Robots 36(1-2): 1-3 (2014) - [c94]Hema Swetha Koppula, Ashutosh Saxena:
Physically Grounded Spatio-temporal Object Affordances. ECCV (3) 2014: 831-847 - [c93]Nitin Singh Chauhan, Ashutosh Saxena:
A robust scheme on proof of data retrievability in cloud. ICACCI 2014: 665-671 - [c92]Mevlana C. Gemici, Ashutosh Saxena:
Learning haptic representation for manipulating deformable food objects. IROS 2014: 638-645 - [c91]Jaeyong Sung, Bart Selman, Ashutosh Saxena:
Synthesizing manipulation sequences for under-specified tasks using unrolled Markov Random Fields. IROS 2014: 2970-2977 - [c90]Hema Swetha Koppula, Ashesh Jain, Ashutosh Saxena:
Anticipatory Planning for Human-Robot Teams. ISER 2014: 453-470 - [c89]Yun Jiang, Ashutosh Saxena:
Modeling High-Dimensional Humans for Activity Anticipation using Gaussian Process Latent CRFs. Robotics: Science and Systems 2014 - [c88]Dipendra Kumar Misra, Jaeyong Sung, Kevin Lee, Ashutosh Saxena:
Tell Me Dave: Context-Sensitive Grounding of Natural Language to Manipulation Instructions. Robotics: Science and Systems 2014 - [c87]Chenxia Wu, Ian Lenz, Ashutosh Saxena:
Hierarchical Semantic Labeling for Task-Relevant RGB-D Perception. Robotics: Science and Systems 2014 - [i30]Ashesh Jain, Debarghya Das, Ashutosh Saxena:
PlanIt: A Crowdsourcing Approach for Learning to Plan Paths from Large Scale Preference Feedback. CoRR abs/1406.2616 (2014) - [i29]Joseph Y. Halpern, Nan Rong, Ashutosh Saxena:
MDPs with Unawareness. CoRR abs/1407.7191 (2014) - [i28]Ashutosh Saxena, Ashesh Jain, Ozan Sener, Aditya Jami, Dipendra Kumar Misra, Hema Swetha Koppula:
RoboBrain: Large-Scale Knowledge Engine for Robots. CoRR abs/1412.0691 (2014) - 2013
- [j24]Abhishek Anand, Hema Swetha Koppula, Thorsten Joachims, Ashutosh Saxena:
Contextually guided semantic labeling and search for three-dimensional point clouds. Int. J. Robotics Res. 32(1): 19-34 (2013) - [j23]Hema Swetha Koppula, Rudhir Gupta, Ashutosh Saxena:
Learning human activities and object affordances from RGB-D videos. Int. J. Robotics Res. 32(8): 951-970 (2013) - [j22]Nitin Singh Chauhan, Ashutosh Saxena:
A Green Software Development Life Cycle for Cloud Computing. IT Prof. 15(1): 28-34 (2013) - [j21]Harigopal K. B. Ponnapalli, Ashutosh Saxena:
A Digital Signature Architecture for Web Apps. IT Prof. 15(2): 42-49 (2013) - [c86]Richa Garg, Ravi Sankar Veerubhotla, Ashutosh Saxena:
AtDRM: a DRM architecture with rights transfer and revocation capability. COMPUTE 2013: 2:1-2:6 - [c85]Ashutosh Saxena, Ina Jain, M. Choudary Gorantla:
An integrated framework for enhancing privacy in online social networks. COMPUTE 2013: 5:1-5:6 - [c84]Zhaoyin Jia, Andrew C. Gallagher, Ashutosh Saxena, Tsuhan Chen:
3D-Based Reasoning with Blocks, Support, and Stability. CVPR 2013: 1-8 - [c83]Yun Jiang, Hema Swetha Koppula, Ashutosh Saxena:
Hallucinated Humans as the Hidden Context for Labeling 3D Scenes. CVPR 2013: 2993-3000 - [c82]Yun Jiang, Ashutosh Saxena:
Infinite Latent Conditional Random Fields. ICCV Workshops 2013: 262-266 - [c81]Ganugula Umadevi, Ashutosh Saxena:
Correctness Verification in Outsourced Databases: More Reliable Fake Tuples Approach. ICISS 2013: 121-132 - [c80]Hema Swetha Koppula, Ashutosh Saxena:
Learning Spatio-Temporal Structure from RGB-D Videos for Human Activity Detection and Anticipation. ICML (3) 2013: 792-800 - [c79]Yun Jiang, Ashutosh Saxena:
Discovering Different Types of Topics: Factored Topic Models. IJCAI 2013: 1429-1436 - [c78]Wen Hao Lui, Ashutosh Saxena:
Tangled: Learning to untangle ropes with RGB-D perception. IROS 2013: 837-844 - [c77]Hema Swetha Koppula, Ashutosh Saxena:
Anticipating human activities for reactive robotic response. IROS 2013: 2071 - [c76]Ashesh Jain, Shikhar Sharma, Ashutosh Saxena:
Beyond Geometric Path Planning: Learning Context-Driven Trajectory Preferences via Sub-optimal Feedback. ISRR 2013: 319-338 - [c75]Ashesh Jain, Brian Wojcik, Thorsten Joachims, Ashutosh Saxena:
Learning Trajectory Preferences for Manipulators via Iterative Improvement. NIPS 2013: 575-583 - [c74]Yun Jiang, Ashutosh Saxena:
Infinite Latent Conditional Random Fields for Modeling Environments through Humans. Robotics: Science and Systems 2013 - [c73]Hema Swetha Koppula, Ashutosh Saxena:
Anticipating Human Activities using Object Affordances for Reactive Robotic Response. Robotics: Science and Systems 2013 - [c72]Ian Lenz, Honglak Lee, Ashutosh Saxena:
Deep Learning for Detecting Robotic Grasps. Robotics: Science and Systems 2013 - [c71]Ian Lenz, Honglak Lee, Ashutosh Saxena:
Deep Learning for Detecting Robotic Grasps. ICLR (Workshop) 2013 - [i27]Jaeyong Sung, Bart Selman, Ashutosh Saxena:
Learning Sequences of Controllers for Complex Manipulation Tasks. CoRR abs/1306.5707 (2013) - [i26]Ashesh Jain, Thorsten Joachims, Ashutosh Saxena:
Learning Trajectory Preferences for Manipulators via Iterative Improvement. CoRR abs/1306.6294 (2013) - 2012
- [j20]Yun Jiang, Marcus Lim, Changxi Zheng, Ashutosh Saxena:
Learning to place new objects in a scene. Int. J. Robotics Res. 31(9): 1021-1043 (2012) - [j19]Congcong Li, Adarsh Kowdle, Ashutosh Saxena, Tsuhan Chen:
Toward Holistic Scene Understanding: Feedback Enabled Cascaded Classification Models. IEEE Trans. Pattern Anal. Mach. Intell. 34(7): 1394-1408 (2012) - [c70]Dhruv Batra, Ashutosh Saxena:
Learning the right model: Efficient max-margin learning in Laplacian CRFs. CVPR 2012: 2136-2143 - [c69]Daniel Le Ly, Ashutosh Saxena, Hod Lipson:
Co-evolutionary predictors for kinematic pose inference from RGBD images. GECCO 2012: 967-974 - [c68]Yun Jiang, Marcus Lim, Ashutosh Saxena:
Learning Object Arrangements in 3D Scenes using Human Context. ICML 2012 - [c67]Jaeyong Sung, Colin Ponce, Bart Selman, Ashutosh Saxena:
Unstructured human activity detection from RGBD images. ICRA 2012: 842-849 - [c66]Yun Jiang, John R. Amend, Hod Lipson, Ashutosh Saxena:
Learning hardware agnostic grasps for a universal jamming gripper. ICRA 2012: 2385-2391 - [c65]Yun Jiang, Changxi Zheng, Marcus Lim, Ashutosh Saxena:
Learning to place new objects. ICRA 2012: 3088-3095 - [c64]Gaurab Basu, Yun Jiang, Ashutosh Saxena:
Learning to place objects: Organizing a room. ICRA 2012: 3545-3546 - [c63]Ian Lenz, Mevlana Gemici, Ashutosh Saxena:
Low-power parallel algorithms for single image based obstacle avoidance in aerial robots. IROS 2012: 772-779 - [c62]Yun Jiang, Ashutosh Saxena:
Hallucinating Humans for Learning Robotic Placement of Objects. ISER 2012: 921-937 - [i25]Yun Jiang, Marcus Lim, Changxi Zheng, Ashutosh Saxena:
Learning to Place New Objects in a Scene. CoRR abs/1202.1694 (2012) - [i24]Yun Jiang, Marcus Lim, Ashutosh Saxena:
Multidimensional Membership Mixture Models. CoRR abs/1208.0402 (2012) - [i23]Hema Swetha Koppula, Rudhir Gupta, Ashutosh Saxena:
Human Activity Learning using Object Affordances from RGB-D Videos. CoRR abs/1208.0967 (2012) - [i22]Hema Swetha Koppula, Rudhir Gupta, Ashutosh Saxena:
Learning Human Activities and Object Affordances from RGB-D Videos. CoRR abs/1210.1207 (2012) - 2011
- [j18]Vishal Anjaiah Gujjary, Ashutosh Saxena:
A neural network approach for data masking. Neurocomputing 74(9): 1497-1501 (2011) - [c61]Ravi Sankar Veerubhotla, Ashutosh Saxena:
A DRM framework towards preventing digital piracy. IAS 2011: 1-6 - [c60]Mithun Paul, Nitin Singh Chauhan, Ashutosh Saxena:
A security analysis of smartphone data flow and feasible solutions for lawful interception. IAS 2011: 19-24 - [c59]Jaeyong Sung, Colin Ponce, Bart Selman, Ashutosh Saxena:
Human Activity Detection from RGBD Images. Plan, Activity, and Intent Recognition 2011 - [c58]R. Sravan Kumar, Ashutosh Saxena:
Data integrity proofs in cloud storage. COMSNETS 2011: 1-4 - [c57]Yun Jiang, Stephen Moseson, Ashutosh Saxena:
Efficient grasping from RGBD images: Learning using a new rectangle representation. ICRA 2011: 3304-3311 - [c56]Congcong Li, T. P. Wong, Norris Xu, Ashutosh Saxena:
FeCCM for scene understanding: Helping the robot to learn multiple tasks. ICRA 2011: 3449-3450 - [c55]Cooper Bills, Joyce Chen, Ashutosh Saxena:
Autonomous MAV flight in indoor environments using single image perspective cues. ICRA 2011: 5776-5783 - [c54]Zhaoyin Jia, Ashutosh Saxena, Tsuhan Chen:
Robotic Object Detection: Learning to Improve the Classifiers Using Sparse Graphs for Path Planning. IJCAI 2011: 2072-2078 - [c53]Hema Swetha Koppula, Abhishek Anand, Thorsten Joachims, Ashutosh Saxena:
Semantic Labeling of 3D Point Clouds for Indoor Scenes. NIPS 2011: 244-252 - [c52]Congcong Li, Ashutosh Saxena, Tsuhan Chen:
$\theta$-MRF: Capturing Spatial and Semantic Structure in the Parameters for Scene Understanding. NIPS 2011: 549-557 - [i21]Yun Jiang, Changxi Zheng, Marcus Lim, Ashutosh Saxena:
Learning to Place New Objects. CoRR abs/1105.3107 (2011) - [i20]Heran Yang, Tiffany Low, Matthew Cong, Ashutosh Saxena:
Inferring 3D Articulated Models for Box Packaging Robot. CoRR abs/1106.4632 (2011) - [i19]Daniel Le Ly, Ashutosh Saxena, Hod Lipson:
Pose Estimation from a Single Depth Image for Arbitrary Kinematic Skeletons. CoRR abs/1106.5341 (2011) - [i18]Hema Swetha Koppula, Abhishek Anand, Thorsten Joachims, Ashutosh Saxena:
Labeling 3D scenes for Personal Assistant Robots. CoRR abs/1106.5551 (2011) - [i17]Jaeyong Sung, Colin Ponce, Bart Selman, Ashutosh Saxena:
Human Activity Detection from RGBD Images. CoRR abs/1107.0169 (2011) - [i16]Congcong Li, Adarsh Kowdle, Ashutosh Saxena, Tsuhan Chen:
Towards Holistic Scene Understanding: Feedback Enabled Cascaded Classification Models. CoRR abs/1110.5102 (2011) - [i15]Abhishek Anand, Hema Swetha Koppula, Thorsten Joachims, Ashutosh Saxena:
Contextually Guided Semantic Labeling and Search for 3D Point Clouds. CoRR abs/1111.5358 (2011) - 2010
- [c51]Vishal Gupta, Ashutosh Saxena:
Privacy Layer for Business Intelligence. CNSA 2010: 323-330 - [c50]Mithun Paul, Ashutosh Saxena:
Proof Of Erasability for Ensuring Comprehensive Data Deletion in Cloud Computing. CNSA 2010: 340-348 - [c49]Meena Dilip Singh, P. Radha Krishna, Ashutosh Saxena:
A cryptography based privacy preserving solution to mine cloud data. Bangalore Compute Conf. 2010: 14:1-14:4 - [c48]Congcong Li, Adarsh Kowdle, Ashutosh Saxena, Tsuhan Chen:
A Generic Model to Compose Vision Modules for Holistic Scene Understanding. ECCV Workshops (1) 2010: 70-85 - [c47]Ellen Klingbeil, Ashutosh Saxena, Andrew Y. Ng:
Learning to open new doors. IROS 2010: 2751-2757 - [c46]Congcong Li, Adarsh Kowdle, Ashutosh Saxena, Tsuhan Chen:
Towards Holistic Scene Understanding: Feedback Enabled Cascaded Classification Models. NIPS 2010: 1351-1359 - [c45]Joseph Y. Halpern, Nan Rong, Ashutosh Saxena:
MDPs with Unawareness. UAI 2010: 228-235 - [i14]Joseph Y. Halpern, Nan Rong, Ashutosh Saxena:
MDPs with Unawareness. CoRR abs/1006.2204 (2010) - [i13]Vishal Gupta, Ashutosh Saxena:
Personalized Data Set for Analysis. CoRR abs/1012.2633 (2010)
2000 – 2009
- 2009
- [j17]Thulasi Goriparthi, Manik Lal Das, Ashutosh Saxena:
An improved bilinear pairing based remote user authentication scheme. Comput. Stand. Interfaces 31(1): 181-185 (2009) - [j16]Sanjay Rawat, Ashutosh Saxena:
Application security code analysis: a step towards software assurance. Int. J. Inf. Comput. Secur. 3(1): 86-110 (2009) - [j15]Manik Lal Das, Ashutosh Saxena, Deepak B. Phatak:
Algorithms and Approaches of Proxy Signature: A Survey. Int. J. Netw. Secur. 9(3): 264-284 (2009) - [j14]Ashutosh Saxena, Min Sun, Andrew Y. Ng:
Make3D: Learning 3D Scene Structure from a Single Still Image. IEEE Trans. Pattern Anal. Mach. Intell. 31(5): 824-840 (2009) - [c44]Ashutosh Saxena, Justin Driemeyer, Andrew Y. Ng:
Learning 3-D object orientation from images. ICRA 2009: 794-800 - [c43]