Thomas Zielke Kai Storjohann Hanspeter A. Mallot Werner von Seelen Adapting Computer Vision Systems to the Visual Environment: Topographic Mapping. 613-615 1990 conf/eccv/1990 ECCV db/conf/eccv/eccv1990.html#ZielkeSMS90 http://dx.doi.org/10.1007/BFb0014923