@article{Zobel2003:MIOa,
        author  = {Zobel, M. and Denzler, J. and Heigl, B. and N{\"o}th, E. and Paulus, D. and Schmidt, J. and Stemmer, G.},
        title   = {{MOBSY}: Integration of vision and dialogue in service robots},
        journal = {{Machine Vision and Applications}},
        volume  = {14},
        number  = {1},
        publisher = {Springer},
        pages   = {26--34},
        year    = 2003
}