Efficient Collision and Self-Collision Detection for Humanoids Based on Sphere Trees Hierarchies. - Klaus Steinbach; James Kuffner; Tamim Asfour; Rüdiger Dillmann (Humanoids, 2006)

Sensor fusion for model based 3D tracking. - Steffen Knoop; Stefan Vacek; Klaus Steinbach; Rüdiger Dillmann (MFI, 2006)