Takeo Kanade Atsushi Yoshida Kazuo Oda Hiroshi Kano Masaya Tanaka A Stereo Machine for Video-Rate Dense Depth Mapping and Its New Applications. 196- 1996 conf/cvpr/1996 CVPR http://computer.org/proceedings/cvpr/7258/72580196abs.htm db/conf/cvpr/cvpr1996.html#KanadeYOKT96