Vision Based Navigation System by Variable Template Matching for Autonomous Mobile Robots.

Yasunori Abe Masaru Shikano Toshio Fukuda Fumihito Arai Yoshio Tanaka Vision Based Navigation System by Variable Template Matching for Autonomous Mobile Robots. 952-957 1998 ICRA db/conf/icra/icra1998-2.html#AbeSFAT98