Kazuhiko Sumi Manabu Hashimoto Haruhisa Okuda Three-Level Broad-Edge Matching based Real-Time Robot Vision. 1416-1422 1995 conf/icra/1995 ICRA db/conf/icra/icra1995-1.html#SumiHO95 http://dx.doi.org/10.1109/ROBOT.1995.525476