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