Database: scholar
Question: What papers were published at CVPR in 2016 about Class consistent multi-modal fusion with binary features applied to RGB-D Object Dataset ?
SQL: select distinct t3.paperid from paperdataset as t2 join dataset as t1 on t2.datasetid  =  t1.datasetid join paper as t3 on t3.paperid  =  t2.paperid join venue as t4 on t4.venueid  =  t3.venueid where t1.datasetname  =  "rgb-d object dataset" and t3.title  =  "class consistent multi-modal fusion with binary features" and t3.year  =  2016 and t4.venuename  =  "cvpr";