@article {Manduchi:2006yq, title = {Learning Outdoor Color Classification}, journal = {IEEE Transactions on Pattern Analysis and Machine Intelligence}, volume = {28}, number = {11}, year = {2006}, pages = {1713{\textendash}1723}, url = {http://users.soe.ucsc.edu/~manduchi/papers/PAMInov06.pdf}, author = {Roberto Manduchi} }