Loren Fiore Guruprasad Somasundaram Andrew Drenner Nikolaos Papanikolopoulos Optimal camera placement with adaptation to dynamic scenes. 956-961 2008 ICRA http://dx.doi.org/10.1109/ROBOT.2008.4543328 conf/icra/2008 db/conf/icra/icra2008.html#FioreSDP08