1. Visual mapping by a robot rover;Moravec,1979
2. Representation of moving rigid objects based on visual observations;Nagel;IEEE Trans. Comput. C-30,1981
3. Guidance system for a roving vehicle;Miller;JPL Invention Report NPO-14376/30–4026,1979
4. TV image processing to determine the position of a robot vehicle;Fukui;Pattern Recognition,1981