@ARTICLE{Richarz-IJARS-2007,
  author = {Richarz, Jan and Scheidig, Andrea and Martin, {\relax Ch}ristian
    and Mueller, {\relax St}effen and Gross, Horst-Michael},
  title = {A Monocular Pointing Pose Estimator for Gestural Instruction of a
    Mobile Robot},
  journal = {Int. Journal of Advanced Robotic Systems (IJARS)},
  year = {2007},
  volume = {4},
  pages = {139--150},
  number = {1}
}