@inproceedings {Morwald2010a, author = {Thomas M\"{o}rwald and Johann Prankl and Andreas Richtsfeld and Michael Zillich and Markus Vincze}, booktitle = {Best Practice in 3D Perception and Modeling for Mobile Manipulation (in conjunction with ICRA 2010)}, title = {BLORT - The Blocks World Robotic Vision Toolbox}, year = {2010} }