Hiroshi Kawasaki Tomoyuki Yatabe Katsushi Ikeuchi Masao Sakauchi Automatic modeling of a 3D city map from real-world video. 11-18 1999 ACM Multimedia (1) http://doi.acm.org/10.1145/319463.319465 db/conf/mm/mm1999-1.html#KawasakiYIS99