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