Using Web Catalogs to Locate and Categorize Unknown Furniture Pieces in 3-D Laser Scans ROBOT: ©ISTOCK PHOTO.COM/HIGYOU OFFICE IMAGE: ©PHOTODISC Digital Object Identifier 10.1109/MRA.2011.940996 Date of publication: 14 June 2011 22 * IEEE ROBOTICS & AUTOMATION MAGAZINE * JUNE 2011 1070-9932/11/$26.00ª2011 IEEEhttp://www.PHOTO.COM/HIGYOU