@inproceedings{SaMuHu05,
  author={A. Sarmiento and R. Murrieta-Cid and S. Hutchinson},
  title={A Sample-based Convex Cover for Rapidly Finding an Object in a 3-D environment},
  booktitle={Proc. IEEE International Conference on Robotics and Automation},
  pages={3497--3502},
  year={2005}}