@ARTICLE{Martin-RAS-2010,
  author = {Martin, {\relax Ch}ristian and Steege, Frank-Florian and Gross, Horst-Michael},
  title = {Estimation of Pointing Poses for Visually Instructing Mobile Robots
    under Real World Conditions},
  journal = {Robotics and Autonomous Systems (RAS)},
  year = {2010},
  volume = {58},
  pages = {174--185},
  number = {2}
}