Sanae Shimizu Kazuhiko Yamamoto Caihua Wang Yutaka Sato Hideki Tanahashi Yoshinori Niwa Moving Object Detection with Mobile Stereo Omni-directional System (SOS) based on Motion Compensatory Inter-frame Depth Subtraction. 248-251 2004 ICPR (3) http://doi.ieeecomputersociety.org/10.1109/ICPR.2004.591 db/conf/icpr/icpr2004-3.html#ShimizuYWSTN04