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Rennie, C., R. Shome, KE Bekris, and Ferreira A. De Souza. 2016. A Dataset For Improved Rgbd-Based Object Detection And Pose Estimation For Warehouse Pick-And-Place. IEEE Robotics and Automation Letters (RA-L) [Also accepted to appear at the 2016 IEEE International Conference on Robotics and Automation (ICRA)] 1(2): 1179 - 1185.