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Multimodal scene understanding is an integral part of humanrobot interaction (HRI) in situated environments. Especially useful is category-level recognition, where the the system can recognize classes of objects of scenes rather than specific instances (e.g., any chair vs. this particular chair.) Humans use multiple modalities to understand which object category is being referred to, simultaneously interpreting gesture, speech and visual appearance, and using one modality to disambiguate thedoi:10.1007/978-3-540-78155-4_4 dblp:conf/mlmi/SaenkoD07 fatcat:7sc4sbqhibaj5bozehs7r4sdnm