@incollection{hsiao2013shape,
  author={Hsiao, E. and Hebert, M.},
  title ={Shape-based instance detection under arbitrary viewpoint},
  editor={Dickinson, S. and Pizlo, Z.},
  booktitle={Shape Perception in Human and Computer Vision: An Interdisciplinary Perspective},
  publisher={Springer},
  year={2013}
}