1. COLREGs - convention on the international regulations for preventing collisions at sea, International Maritime Organization (IMO) (1972)
2. Bar-Shalom, Y., Li, X.R., Kirubarajan, T.: Estimation with Applications to Tracking and Navigation: Theory Algorithms and Software. Wiley, Hoboken (2004)
3. Barber, D.B., Redding, J.D., McLain, T.W., Beard, R.W., Taylor, C.N.: Vision-based target geo-location using a fixed-wing miniature air vehicle. J. Intell. Robot. Syst. 47(4), 361–382 (2006)
4. Horn, B.K.P., Schunk, B.G.: Determining optical flow. Artif. Intell. 17, 185–204 (1981)
5. Bradski, G.: The opencv library. Dr Dobb’s Journal of Software Tools (2000)