Hideo Morita Michael Hild Jun Miura Yoshiaki Shirai Panoramic View-Based Navigation in Outdoor Environments Based on Support Vector Learning. 2302-2307 2006 IROS http://dx.doi.org/10.1109/IROS.2006.282636 conf/iros/2006 db/conf/iros/iros2006.html#MoritaHMS06