@InProceedings{ulrich-etal:09,
  author =       "Markus Ulrich and Christian Wiedemann and Carsten
                  Steger",
  title =        "CAD-Based Recognition of 3D Objects in Monocular
                  Images",
  booktitle =    "International Conference on Robotics and
                  Automation",
  pages =        "1191--1198",
  year =         "2009"
}