Arthur R. Pope David G. Lowe Learning object recognition models from images. 296-301 1993 ICCV https://doi.org/10.1109/ICCV.1993.378202 https://doi.ieeecomputersociety.org/10.1109/ICCV.1993.378202 conf/iccv/1993 db/conf/iccv/iccv1993.html#PopeL93