Orson Sutherland Harley Truong Sebastien Rougeaux Alexander Zelinsky Advancing Active Vision Systems by Improved Design and Control. 71-80 http://link.springer.de/link/service/series/0642/bibs/1271/12710071.htm 2000 conf/iser/2000 ISER db/conf/iser/iser2000.html#SutherlandTRZ00