José António Gaspar Miguel Realpe Boris Xavier Vintimilla José Santos-Victor Mosaicking Cluttered Ground Planes Based on Stereo Vision. 17-24 2007 conf/ibpria/2007-2 IbPRIA (2) http://dx.doi.org/10.1007/978-3-540-72849-8_3 db/conf/ibpria/ibpria2007-2.html#GasparRVS07