@Article{LIS10,
title = {Tactile Recognition and Localization Using Object Models: The Case of Polyhedra on a Plane},
author = {P. C. Gaston and T. Lozano-Perez},
year = {1984},
url = {http://lis.csail.mit.edu/pubs/tlp/AIM-705.pdf},
journal = {IEEE Trans. on PAMI},
volume = {6},
pages = {257--265},
}