Quoc Vong Do Peter Lozo Lakhmi C. Jain A Fast Visual Search and Recognition Mechanism for Real-Time Robotics Applications. 937-942 http://springerlink.metapress.com/openurl.asp?genre=article&issn=0302-9743&volume=3339&spage=937 2004 conf/ausai/2004 Australian Conference on Artificial Intelligence db/conf/ausai/ausai2004.html#DoLJ04