1. A method for multimodal human-vehicle interaction, comprising: receiving input from an occupant in a vehicle via more than one mode, wherein the input includes a speech input and a gesture input; performing multimodal recognition of the input to determine a reference to a point of interest based on the speech input and to extract a visual point of interest based on the gesture input and the reference to the point of interest in the speech input; augmenting at least one recognition hypothesis based on the visual point of interest; determining a belief state of the occupant's intent, wherein the belief state is determined based on joint probability distribution tables of probabilistic ontology trees and the probabilistic ontology trees are based on the recognition hypothesis; and selecting an action to take based on the determined belief state.