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Spehr J., Rosebrock D., Mossau D., Auer R., Brosig S., Wahl F..  2011.  Hierarchical Scene Understanding for Intelligent Vehicles. Proc. of IEEE Intelligent Vehicles Symposium (IV),. :1142–1147.
Spehr J..  2015.  On Hierarchical Models for Visual Recognition and Learning of Objects, Scenes, and Activities. Springer Studies in Systems, Decision and Control. 11

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