Cyril Drocourt Laurent Delahoche Claude Pégard Arnaud Clerentin Mobile Robot Localization Based on an Omnidirectional Stereoscopic Vision Perception System. 1329-1334 1999 conf/icra/1999 ICRA db/conf/icra/icra1999-2.html#DrocourtDPC99 http://dx.doi.org/10.1109/ROBOT.1999.772545