Felix Woelk Reinhard Koch Fast Monocular Bayesian Detection of Independently Moving Objects by a Moving Observer. 27-35 http://springerlink.metapress.com/openurl.asp?genre=article&issn=0302-9743&volume=3175&spage=27 2004 conf/dagm/2004 DAGM-Symposium db/conf/dagm/dagm2004.html#WoelkK04