@article{velez2012jair, author = {Javier Velez and Garrett Hemann and Albert S. Huang and Ingmar Posner and Nicholas Roy}, title = {Modelling Observation Correlations for Active Exploration and Robust Object Detection}, journal = {{Journal of Artificial Intelligence Research}}, volume = {44}, month = {Jul.}, year = {2012}, pages = {423-453} }