@Article{LIS12,<br>title = {Model-Based Recognition and Localization from Sparse Range or Tactile Data},<br>author = {W.E.L. Grimson and T. Lozano-Perez},<br>year = {1984},<br>url = {http://lis.csail.mit.edu/pubs/tlp/AIM-738.pdf},<br>journal = {International Journal of Robotics Research},<br>volume = {3},<br>number = {3},<br>pages = {3-35},<br>}