CREATE TABLE venue (venueid INT, venuename VARCHAR)
CREATE TABLE paperfield (fieldid INT, paperid INT)
CREATE TABLE dataset (datasetid INT, datasetname VARCHAR)
CREATE TABLE author (authorid INT, authorname VARCHAR)
CREATE TABLE field (fieldid INT)
CREATE TABLE paperdataset (paperid INT, datasetid INT)
CREATE TABLE cite (citingpaperid INT, citedpaperid INT)
CREATE TABLE writes (paperid INT, authorid INT)
CREATE TABLE paperkeyphrase (paperid INT, keyphraseid INT)
CREATE TABLE paper (paperid INT, title VARCHAR, venueid INT, year INT, numciting INT, numcitedby INT, journalid INT)
CREATE TABLE keyphrase (keyphraseid INT, keyphrasename VARCHAR)
CREATE TABLE journal (journalid INT, journalname VARCHAR)

What papers were published at CVPR '16 about Class consistent multi-modal fusion with binary features applied to RGB-D Object Dataset ?
SELECT DISTINCT paper.paperid FROM dataset, paper, paperdataset, venue WHERE dataset.datasetname = 'RGB-D Object Dataset' AND paperdataset.datasetid = dataset.datasetid AND paper.paperid = paperdataset.paperid AND paper.title = 'Class consistent multi-modal fusion with binary features' AND paper.year = 2016 AND venue.venueid = paper.venueid AND venue.venuename = 'CVPR'
SELECT DISTINCT "paper"."paperid" FROM "dataset" JOIN "paperdataset" ON "dataset"."datasetid" = "paperdataset"."datasetid" JOIN "paper" ON "paper"."paperid" = "paperdataset"."paperid" AND "paper"."title" = 'Class consistent multi-modal fusion with binary features' AND "paper"."year" = 2016 JOIN "venue" ON "paper"."venueid" = "venue"."venueid" AND "venue"."venuename" = 'CVPR' WHERE "dataset"."datasetname" = 'RGB-D Object Dataset'