Markus GrotzPeter Kaiser 0001Eren Erdal AksoyFabian PausTamim AsfourGraph-based visual semantic perception for humanoid robots.869-8752017Humanoidshttps://doi.org/10.1109/HUMANOIDS.2017.8246974conf/humanoids/2017db/conf/humanoids/humanoids2017.html#GrotzKAPA17