Seonghoon Kang Seong-Whan Lee Object Detection and Classification for Outdoor Walking Guidance System. 601-610 2002 conf/bmcv/2002 Biologically Motivated Computer Vision http://link.springer.de/link/service/series/0558/bibs/2525/25250601.htm db/conf/bmcv/bmcv2002.html#KangL02