@article{sturm11jair,
  title="A Probabilistic Framework for Learning Kinematic Models of Articulated Objects",
  author="J. Sturm and C. Stachniss and W. Burgard",
 journal="Journal on Artificial Intelligence Research (JAIR)", 
 year="2011",
volume={41},
pages={477--626},
month={August},
topic="articulated-objects",
}