Andrew Edie Johnson Steve B. Goldberg Yang Cheng Larry H. Matthies Robust and Efficient Stereo Feature Tracking for Visual Odometry. 39-46 2008 ICRA http://dx.doi.org/10.1109/ROBOT.2008.4543184 conf/icra/2008 db/conf/icra/icra2008.html#JohnsonGCM08