Cucchiara, Rita; Grana, Costantino; Prati, Andrea; Seidenari, Stefania; Pellacani, Giovanni "Building the Topological Tree by Recursive FCM Color Clustering" Object recognition supported by user interaction for service robots, vol. 1, Quebec City, Quebec, Canada, Canada, pp. 759 -762 , 11-15 Aug. 2002, 2002

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