@Article{Glover09IJRR,
  author = 	 {J. Glover, D. Rus and N. Roy},
  title = 	 {Probabilistic Models of Object Geometry with Application to Grasping},
  journal = 	 {International Journal of Robotics Research},
  year = 	 {2009},
  volume =	 {28},
  number =	 {8},
  pages =	 {999-1019},
  month =	 {August},
}