Real-time 3D Model-based Tracking Using Edge and Keypoint Features for Robotic Manipulation. Choi, C & Christensen, H. In ICRA-2010, pages 4048–4055, Anchorage, May, 2010. IEEE RAS.
bibtex   
@inproceedings{choi10:realmodeltrackusingedge,
  address       = {Anchorage},
  author        = {C Choi and H.I. Christensen},
  booktitle     = {ICRA-2010},
  category      = {Conference},
  month         = may,
  organization  = {IEEE RAS},
  pages         = {4048--4055},
  title         = {Real-time 3D Model-based Tracking Using Edge and Keypoint Features for Robotic Manipulation},
  year          = 2010
}

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