@inproceedings{6208809, title = {{Characterization of 3-D Volumetric Probabilistic Scenes for Object Recognition}}, author = {Restrepo, M I and Mayer, B A and Ulusoy, A O and Mundy, J L}, booktitle = {Selected Topics in Signal Processing, IEEE Journal of}, volume = {6}, number = {5}, pages = {522--537}, month = sep, year = {2012}, doi = {10.1109/JSTSP.2012.2201693}, month_numeric = {9} }