Publications

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  2020 (5)
The Unexpected Daily Situations (UDS) Dataset: A New Benchmark for Socially-Aware Assistive Robots. Sallami, Y.; Winkle, K.; Lemaignan, S.; Webb, N.; and Alami, R. In Late Breaking Report accepted for the 14th ACM/IEEE International Conference on Human-Robot Interaction (HRI2020), 2020.
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Social Human-Robot Interaction in the Wild. A workshop in the Academic Mindtrek '20 conference. Niemelä, M; Ahtinen, A; and Turunen, M January 2020.
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A Differential Approach for Gaze Estimation. Liu, G.; Yu, Y.; Mora, K. A. F.; and Odobez, J. IEEE Transactions on Pattern Analysis and Machine Intelligence (PAMI), accepted for publication. 2020.
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Unsupervised Representation Learning for Gaze Estimation. Yu, Y.; and Odobez, J. In Int. Conf. on Computer Vision and Pattern Recognition (CVPR), 2020.
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Guiding task through route description in the MuMMER project. Singamaneni, P.; Mayima, A.; Sarthou, G.; Sallami, Y.; Buisan, G.; Belhassein, K.; Waldhart, J.; and Aurélie, C. In Video submission accepted for the 14th ACM/IEEE International Conference on Human-Robot Interaction (HRI), Cambridge, UK, 2020.
Guiding task through route description in the MuMMER project [link]Paper   bibtex
  2019 (19)
Contextual Non-verbal Behaviour Generation for Humanoid Robot Using Text Sentiment. Deshmukh, A.; Mazel, A.; and Foster, M. E. In 28th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN 2019), July 2019.
Contextual Non-verbal Behaviour Generation for Humanoid Robot Using Text Sentiment [link]Paper   bibtex   abstract
MuMMER: Socially Intelligent Human-Robot Interaction in Public Spaces. Foster, M. E.; Craenen, B.; Deshmukh, A.; Lemon, O.; Bastianelli, E.; Dondrup, C.; Papaioannou, I.; Vanzo, A.; Odobez, J.; Canévet, O.; Cao, Y.; He, W.; Martínez-González, A.; Motlicek, P.; Siegfried, R.; Alami, R.; Belhassein, K.; Buisan, G.; Clodic, A.; Mayima, A.; Sallami, Y.; Sarthou, G.; Singamaneni, P.; Waldhart, J.; Mazel, A.; Caniot, M.; Niemelä, M.; Heikkilä, P.; Lammi, H.; and Tammela, A. In Proceedings of AI-HRI 2019, 2019.
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Simulation-based physics reasoning for consistent scene estimation in an HRI context. Sallami, Y.; Lemaignan, S.; Clodic, A.; and Alami, R. In 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), November 2019. IEEE
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Should a Robot Guide Like a Human? A Qualitative Four-Phase Study of a Shopping Mall Robot. Heikkilä, P.; Lammi, H.; Niemelä, M.; Belhassein, K.; Sarthou, G.; Tammela, A.; Clodic, A.; and Alami, R. In Social Robotics, pages 548–557. Springer International Publishing, 2019.
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Ontologenius: A long-term semantic memory for robotic agents. Sarthou, G.; Clodic, A.; and Alami, R. In 2019 28th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN), October 2019. IEEE
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Reasoning on Shared Visual Perspective to Improve Route Directions. Waldhart, J.; Clodic, A.; and Alami, R. In 2019 28th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN), October 2019. IEEE
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Semantic Spatial Representation: a unique representation of an environment based on an ontology for robotic applications. Sarthou, G.; Clodic, A.; and Alami, R. In Proceedings of the Combined Workshop on Spatial Language Understanding (, 2019. Association for Computational Linguistics
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Proceedings of the 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2019). Sallami, Y.; Lemaignan, S.; Clodic, A.; and Alami, R. In Simulation-based physics reasoning for consistent scene estimation in an HRI context, 2019.
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Evaluation of the Quality of Interaction from the robot point of view in Human-Robot Interactions. Mayima, A.; Clodic, A.; and Alami, R. In 1st Edition of Quality of Interaction in Socially Assistive Robots (QISAR) Workshop, Nov 2019, Madrid, Spain, 2019.
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Face-to-face conversation: Why Embodiment Matters for Conversational User Interfaces. Foster, M. E. In Proceedings of the 1st International Conference on Conversational User Interfaces - CUI \textquotesingle19, 2019. ACM Press
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Natural language generation for social robotics: opportunities and challenges. Foster, M. E. Philosophical Transactions of the Royal Society B: Biological Sciences, 374(1771): 20180027. March 2019.
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A Social Robot in a Shopping Mall: Studies on Acceptance and Stakeholder Expectations. Niemelä, M.; Heikkilä, P.; Lammi, H.; and Oksman, V. In Human-Computer Interaction Series, pages 119–144. Springer International Publishing, 2019.
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Hierarchical Multi-Task Natural Language Understanding for Cross-domain Conversational AI: HERMIT NLU. Vanzo, A.; Bastianelli, E.; and Lemon, O. In 20th Annual Meeting of the Special Interest Group on Discourse and Dialogue, pages 254, 2019.
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Petri Net Machines for Human-Agent Interaction. Dondrup, C.; Papaioannou, I.; and Lemon, O. AAAI FSS. 2019.
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Long-term evaluation of a shopping mall robot: a mixed-method approach to study the success of a Pepper demonstrator in a mall. Niemelä, M.; Heikkilä, P.; Tammela, A.; Lammi, H.; Aaltonen, I.; and Arvola, A. In Oral presentation in the ICSR2019 workshop Robots in the Wild, Madrid, Spain, November 2019.
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Improving speech embedding using crossmodal transfer learning with audio-visual data. Le, N.; and Odobez, J. Multimedia Tools and Applications, 78(11): 15681–15704. June 2019.
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Improving Few-Shot User-Specific Gaze Adaptation via Gaze Redirection Synthesis. Yu, Y.; Liu, G.; and Odobez, J. In 2019 IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), 2019.
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Adaptation of Multiple Sound Source Localization Neural Networks with Weak Supervision and Domain-adversarial Training. He, W.; Motlicek, P.; and Odobez, J. In ICASSP 2019 - 2019 IEEE International Conference on Acoustics, Speech and Signal Processing (ICASSP), pages 770–774, May 2019.
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A Deep Learning Approach for Robust Head Pose Independent Eye Movements Recognition from Videos. Siegfried, R.; Yu, Y.; and Odobez, J. In 2019 ACM Symposium on Eye Tracking Research and Applications, pages 5, June 2019.
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  2018 (29)
HeadFusion: 360 degree Head Pose Tracking Combining 3D Morphable Model and 3D Reconstruction. Yu, Y.; Funes Mora, K. A.; and Odobez, J. IEEE TRANSACTIONS ON PATTERN ANALYSIS AND MACHINE INTELLIGENCE, 40(11). November 2018.
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A Differential Approach for Gaze Estimation with Calibration. Liu, G.; Yu, Y.; Mora, K. A. F.; and Odobez, J. In British Machine Vision Conference 2018, BMVC 2018, Northumbria University, Newcastle, UK, September 3-6, 2018, pages 235, 2018.
A Differential Approach for Gaze Estimation with Calibration [pdf]Paper   bibtex
A Differential Approach for Gaze Estimation with Calibration. Liu, G.; Yu, Y.; Funes Mora, K. A.; and Odobez, J. In 29TH BRITISH MACHINE VISION CONFERENCE (BMVC), September 2018.
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Deep Neural Networks for Multiple Speaker Detection and Localization. He, W.; Motlicek, P.; and Odobez, J. In 2018 IEEE International Conference on Robotics and Automation (ICRA), pages 74–79, Brisbane, Australia, May 2018.
Deep Neural Networks for Multiple Speaker Detection and Localization [link]Paper   doi   bibtex
Investigating Depth Domain Adaptation for Efficient Human Pose Estimation. Martínez-González, A.; Villamizar, M.; Canévet, O.; and Odobez, J. In 2018 European Conference on Computer Vision - Workshops, ECCVW 2018, September 2018.
Investigating Depth Domain Adaptation for Efficient Human Pose Estimation [link]Paper   bibtex
Joint Localization and Classification of Multiple Sound Sources Using a Multi-task Neural Network. He, W.; Motlicek, P.; and Odobez, J. In Proc. Interspeech 2018, pages 312–316, Hyderabad, India, September 2018.
Joint Localization and Classification of Multiple Sound Sources Using a Multi-task Neural Network [link]Paper   doi   bibtex
Leveraging Convolutional Pose Machines for Fast and Accurate Head Pose Estimation. Cao, Y.; Canévet, O.; and Odobez, J. In IEEE/RSJ International Conference on Intelligent Robots and Systems, Madrid Municipal Conference Centre, Madrid, Spain, October 2018.
Leveraging Convolutional Pose Machines for Fast and Accurate Head Pose Estimation [pdf]Paper   bibtex
Real-time Convolutional Networks for Depth-based Human Pose Estimation. Martínez-González, A.; Villamizar, M.; Canévet, O.; and Odobez, J. In 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018, October 2018.
Real-time Convolutional Networks for Depth-based Human Pose Estimation [link]Paper   bibtex
Robust and Discriminative Speaker Embedding via Intra-Class Distance Variance Regularization. Le, N.; and Odobez, J. In Proceedings of Interspeech, 2018.
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Shaping Gestures to Shape Personality: Big-Five Traits, Godspeed Scores and the Similarity-Attraction Effect. Craenen, B.; Deshmukh, A.; Foster, M. E.; and Vinciarelli, A. In Proceedings of the 17th International Conference on Autonomous Agents and Multiagent Systems (AAMAS 2018), Stockholm, July 2018.
Shaping Gestures to Shape Personality: Big-Five Traits, Godspeed Scores and the Similarity-Attraction Effect [pdf] local   bibtex
Shaping Gestures to Shape Personalities: The Relationship Between Gesture Parameters, Attributed Personality Traits and Godspeed Scores. Craenen, B.; Deshmukh, A.; Foster, M. E.; and Vinciarelli, A. In Proceedings of the 27th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN), Nanjing, China, August 2018.
Shaping Gestures to Shape Personalities: The Relationship Between Gesture Parameters, Attributed Personality Traits and Godspeed Scores [pdf] local   bibtex
Do We Really Like Robots that Match our Personality? The Case of Big-Five Traits, Godspeed Scores and Robotic Gestures. Craenen, B.; Deshmukh, A.; Foster, M. E.; and Vinciarelli, A. In Proceedings of the 27th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN), Nanjing, China, August 2018.
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The More I Understand it, the Less I Like it: The Relationship Between Understandability and Godspeed Scores for Robotic Gestures. Deshmukh, A.; Craenen, B.; Foster, M. E.; and Vinciarelli, A. In Proceedings of the 27th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN), Nanjing, China, August 2018.
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Natural Language Generation for Public-Space Social Robots. Foster, M. E. In Proceedings of the 4th Workshop on Public Space Human-Robot Interaction (PubRob 2018), Barcelona, September 2018.
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Human-Robot Interaction Requires More Than Slot Filling - Multi-Threaded Dialogue for Collaborative Tasks and Social Conversation. Papaioannou, I.; Dondrup, C.; and Lemon, O. In FAIM/ISCA Workshop on Artificial Intelligence for Multimodal Human Robot Interaction, July 2018. ISCA
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Incrementally Learning Semantic Attributes Through Dialogue Interaction. Vanzo, A.; Part, J. L.; Yu, Y.; Nardi, D.; and Lemon, O. In Proceedings of the 17th International Conference on Autonomous Agents and MultiAgent Systems, of AAMAS '18, pages 865–873, Richland, SC, 2018. International Foundation for Autonomous Agents and Multiagent Systems
Incrementally Learning Semantic Attributes Through Dialogue Interaction [link]Paper   bibtex
How can we transition from lab to the real world with our HCI and HRI setups?. Dondrup, C.; Baillie, L.; Broz, F.; and Lohan, K. In Proceedings of the Fourth Workshop on Public-Space Human-Robot Interaction (PubRob 2018), 2018.
How can we transition from lab to the real world with our HCI and HRI setups? [link]Paper   bibtex
Spoken Conversational AI in Video Games-Emotional Dialogue Management Increases User Engagement. Fraser, J.; Papaioannou, I.; and Lemon, O. In Proceedings of International Conference on Intelligent VirtualAgents (IVA '18),, 2018.
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Evaluating the Pertinence of Robot Decisions in a Human-Robot Joint Action Context: The PeRDITA Questionnaire. Devin, S.; Vrignaud, C.; Belhassein, K.; Clodic, A.; Carreras, O.; and Alami, R. In IEEE RO-MAN, 2018. IEEE
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A Mass-Produced Sociable Humanoid Robot: Pepper: The First Machine of Its Kind. Pandey, A. K.; and Gelin, R. IEEE Robotics Automation Magazine, 25(3): 40–48. September 2018.
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Shaping Robot Gestures to Shape Users\textquotesingle Perception. Deshmukh, A.; Craenen, B.; Vinciarelli, A.; and Foster, M. E. In Proceedings of the 6th International Conference on Human-Agent Interaction - HAI \textquotesingle18, 2018. ACM Press
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Planning Human and Robot Placements for Shared Visual Perspective. Waldhart, J.; Clodic, A.; and Alami, R. In Workshop on Robotic Co-workers 4.0: Human Safety and Comfort in Human-Robot Interactive Social Environments 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, Oct 2018, Madrid, Spain, 2018.
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Implementing an implicit false belief task by cascading situation assessment with Underworlds. Sallami, Y.; Lemaignan, S.; Clodic, A.; and Alami, R. In Workshop ``Toward a framework for joint action: what about theory of mind?'' at Robotics Science and System conference (RSS'18), Pittsburgh,USA, 2018.
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A New Formulation and Resolution Schemes for Planning Collaborative Human-Robot Tasks. Waldhart, J. Ph.D. Thesis, Universit'e Toulouse, INSA Toulouse, 2018.
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Evaluation of Interacting Robots in Public Spaces Through Scientific Competitions. Iocchi, L.; Nardi, D.; and Foster, M. E. In 4th Workshop on Public Space Human-Robot Interaction (PubRob 2018), Barcelona, September 2018.
Evaluation of Interacting Robots in Public Spaces Through Scientific Competitions [link]Paper   bibtex   abstract
UNDERWORLDS: Cascading Situation Assessment for Robots. Lemaignan, S.; Sallami, Y.; Wallhridge, C.; Clodic, A.; Belpaeme, T.; and Alami, R. In 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), October 2018. IEEE
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Theoretical Guarantees of Deep Embedding Losses Under Label Noise. Le, N.; and Odobez, J. CoRR, abs/1812.02676. 2018.
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Deep Multitask Gaze Estimation with a Constrained Landmark-Gaze Model. Yu, Y.; Liu, G.; and Odobez, J. In The European Conference on Computer Vision (ECCV) Workshops, September 2018.
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Semantic-Based Interaction for Teaching Robot Behavior Compositions Using Spoken Language. Paléologue, V.; Martin, J.; Pandey, A. K.; and Chetouani, M. In Social Robotics, pages 421–430. Springer International Publishing, 2018.
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  2017 (21)
Hello Pepper, May I Tickle You? Children's and Adults' Responses to an Entertainment Robot at a Shopping Mall. Aaltonen, I.; Arvola, A.; Heikkilä, P.; and Lammi, H. In Proceedings of the 2017 Conference on Human-Robot Interaction (HRI2017), Late-Breaking Reports, March 2017.
Hello Pepper, May I Tickle You? Children's and Adults' Responses to an Entertainment Robot at a Shopping Mall [link]Paper   doi   bibtex
Perceptual Control Theory for Engagement and Disengagement of Users in Public Spaces. Deshmukh, A.; Foster, M. E.; and Vinciarelli, A. In Proceedings of the 2017 Conference on Human-Robot Interaction (HRI2017), Late-Breaking Reports, March 2017.
Perceptual Control Theory for Engagement and Disengagement of Users in Public Spaces [link]Paper   doi   bibtex
Separating Representation, Reasoning, and Implementation for Interaction Management: Lessons from Automated Planning. Foster, M. E.; and Petrick, R. P. A. In Jokinen, K.; and Wilcock, G., editor(s), Dialogues with Social Robots: Enablements, Analyses, and Evaluation, pages 93–107. Springer Singapore, 2017.
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A Human-Robot Cooperative Navigation Planner. Khambhaita, H.; and Alami, R. In Proceedings of the 2017 Conference on Human-Robot Interaction (HRI2017), Late-Breaking Reports, March 2017.
A Human-Robot Cooperative Navigation Planner [link]Paper   doi   bibtex
Head-Body Motion Coordination for Human Aware Robot Navigation. Khambhaita, H.; Rios-Martinez, J.; and Alami, R. In Proceedings of the 9th International Workshop on Human Friendly Robotics, September 2017.
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Monitoring the Acceptance of a Social Service Robot in a Shopping Mall: First Results. Niemelä, M.; Arvola, A.; and Aaltonen, I. In Proceedings of the 2017 Conference on Human-Robot Interaction (HRI2017), Late-Breaking Reports, March 2017.
Monitoring the Acceptance of a Social Service Robot in a Shopping Mall: First Results [link]Paper   doi   bibtex
A Social Service Robot in a Shopping Mall – Expectations of the Management, Retailers and Consumers. Niemelä, M.; Heikkilä, P.; and Lammi, H. In Proceedings of the 2017 Conference on Human-Robot Interaction (HRI2017), Late-Breaking Reports, March 2017.
A Social Service Robot in a Shopping Mall – Expectations of the Management, Retailers and Consumers [link]Paper   doi   bibtex
Combining chat and task-based multimodal dialogue for more engaging HRI: a scalable method using Reinforcement Learning. Papaioannou, I.; and Lemon, O. In Proceedings of the HRI 2017 Pioneers Workshop, March 2017.
Combining chat and task-based multimodal dialogue for more engaging HRI: a scalable method using Reinforcement Learning [link]Paper   doi   bibtex
Sympathy Begins with a Smile, Intelligence Begins with a Word: Use of Multimodal Features in Spoken Human-Robot Interaction. Novikova, J.; Dondrup, C.; Papaioannou, I.; and Lemon, O. In Proceedings of the First Workshop on Language Grounding for Robotics, pages 86–94, August 2017. Association for Computational Linguistics
Sympathy Begins with a Smile, Intelligence Begins with a Word: Use of Multimodal Features in Spoken Human-Robot Interaction [link]Paper   bibtex
Hybrid chat and task dialogue for more engaging HRI using reinforcement learning. Papaioannou, I.; Dondrup, C.; Novikova, J.; and Lemon, O. In 2017 26th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN), August 2017. IEEE
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Improving speaker turn embedding by crossmodal transfer learning from face embedding. Le, N.; and Odobez, J. In ICCV Workshop on Computer Vision for Audio-Visual Media, October 2017.
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Introducing a ROS based planning and execution framework for human-robot interaction. Dondrup, C.; Papaioannou, I.; Novikova, J.; and Lemon, O. In Proceedings of the 1st ACM SIGCHI International Workshop on Investigating Social Interactions with Artificial Agents - ISIAA 2017, 2017. ACM Press
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Alana: Social dialogue using an ensemble model and a ranker trained on user feedback. Papaioannou, I.; Curry, A. C.; Part, J. L; Shalyminov, I.; Xu, X.; Yu, Y.; Dušek, O.; Rieser, V.; and Lemon, O. Alexa Prize Proceedings. 2017.
Alana: Social dialogue using an ensemble model and a ranker trained on user feedback [pdf]Paper   bibtex
Enriching the Human-Robot Interaction Loop with Natural, Semantic, and Symbolic Gestures. Lohan, K. S.; Lehmann, H.; Dondrup, C.; Broz, F.; and Kose, H. In Humanoid Robotics: A Reference, pages 1–21. Springer Netherlands, 2017.
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Shopping Mall Robots – Opportunities and Constraints from the Retailer and Manager Perspective. Niemelä, M.; Heikkilä, P.; Lammi, H.; and Oksman, V. In Social Robotics, pages 485–494. Springer International Publishing, 2017.
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A domain adaptation approach to improve speaker turn embedding using face representation. Le, N.; and Odobez, J. In Proceedings of the 19th ACM International Conference on Multimodal Interaction - ICMI 2017, November 2017. ACM Press
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Supervised Gaze Bias Correction for Gaze Coding in Interactions. Siegfried, R.; and Odobez, J. In Proceedings of the Communication by Gaze Interaction symposium (COGAIN), September 2017.
Supervised Gaze Bias Correction for Gaze Coding in Interactions [pdf]Paper   bibtex
Towards the use of social interaction conventions as prior for gaze model adaptation. Siegfried, R.; Yu, Y.; and Odobez, J. In Proceedings of the 19th ACM International Conference on Multimodal Interaction - ICMI 2017, November 2017. ACM Press
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Viewing Robot Navigation in Human Environment as a Cooperative Activity. Khambhaita, H.; and Alami, R. In International Symposium on Robotics Research (ISSR 2017), pages 18, Puerto Varas, Chile, December 2017.
Viewing Robot Navigation in Human Environment as a Cooperative Activity [link]Paper   bibtex
Human-Human Guidance Study. Belhassein, K.; Clodic, A.; Cochet, H.; Niemelä, M.; Heikkilä, P.; Lammi, H.; and Tammela, A. December 2017.
Human-Human Guidance Study [link]Paper   bibtex
Assessing the social criteria for human-robot collaborative navigation: A comparison of human-aware navigation planners. Khambhaita, H.; and Alami, R. In Robot and Human Interactive Communication (RO-MAN), 2017 26th IEEE International Symposium on, pages 1140–1145, 2017. IEEE
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  2016 (7)
Qualitative Constraints for Human-aware Robot Navigation using Velocity Costmaps. Dondrup, C.; and Hanheide, M. In Proceedings of the IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN 2016), August 2016.
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Public-space human-robot interaction in the MuMMER project. Foster, M. E. In Proceedings of the 3rd Workshop on Public Space Human-Robot Interaction (PubRob 2016), August 2016.
Public-space human-robot interaction in the MuMMER project [link]Paper   bibtex
The MuMMER project: Engaging human-robot interaction in real-world public spaces. Foster, M. E.; Alami, R.; Gestranius, O.; Lemon, O.; Niemelä, M.; Odobez, J.; and Pandey, A. K. In Proceedings of the Eighth International Conference on Social Robotics (ICSR 2016), November 2016.
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Towards Building an Attentive Artificial Listener: On the Perception of Attentiveness in Audio-visual Feedback Tokens. Oertel, C.; Lopes, J.; Yu, Y.; Funes Mora, K. A.; Gustafson, J.; Black, A. W.; and Odobez, J. In Proceedings of the 18th ACM International Conference on Multimodal Interaction, pages 21–28, November 2016.
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Using General-Purpose Planning for Action Selection in Human-Robot Interaction. Petrick, R. P. A.; and Foster, M. E. In Proceedings of the AAAI Fall Symposium on Artificial Intelligence for Human-Robot Interaction (AI-HRI 2016), November 2016.
Using General-Purpose Planning for Action Selection in Human-Robot Interaction [link]Paper   bibtex
A Novel Software Combining Task and Motion Planning for Human-Robot Interaction. Waldhart, J.; Gharbi, M.; and Alami, R. In Proceedings of the AAAI Fall Symposium on Artificial Intelligence for Human-Robot Interaction (AI-HRI 2016), November 2016.
A Novel Software Combining Task and Motion Planning for Human-Robot Interaction [link]Paper   bibtex
Training an adaptive dialogue policy for interactive learning of visually grounded word meanings. Yu, Y.; Eshghi, A.; and Lemon, O. In Proceedings of the 17th Annual Meeting of the Special Interest Group on Discourse and Dialogue, pages 339–349, September 2016.
Training an adaptive dialogue policy for interactive learning of visually grounded word meanings [link]Paper   bibtex
  Feb. 2018 (1)
HeadFusion: 360 degree Head Pose tracking combining 3D Morphable Model and 3D Reconstruction. Yu, Y.; Funes, K.; and Odobez, J. IEEE Transactions on Pattern Analysis and Machine Intelligence (PAMI), accepted for publication, online version https://www.computer.org/csdl/trans/tp/preprint/08368264.pdf.. Feb. 2018.
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