CONF Tommasi_IROS_2010/IDIAP Object Recognition using Visuo-Affordance Maps Gijsberts, Arjan Tommasi, Tatiana Metta, Giorgio Caputo, Barbara EXTERNAL http://publications.idiap.ch/attachments/papers/2011/Tommasi_IROS_2010.pdf PUBLIC International Conference on Intelligent Robots and Systems Taipei 2010 IEEE 1572-1578 978-1-4244-6674-0 10.1109/IROS.2010.5649238 doi