Ronen Lerner Ehud Rivlin Héctor Rotstein Error Analysis for a Navigation Algorithm Based on Optical-Flow and a Digital Terrain Map. 604-610 2004 CVPR (1) http://csdl.computer.org/comp/proceedings/cvpr/2004/2158/01/215810604abs.htm db/conf/cvpr/cvpr2004-1.html#LernerRR04