Kyoung Mihn Do Chee-Woo Kang Kwae-Hi Lee Recognition and Relocation of 3-Dimensional Objects Using Stereo Robot Vision System. 51-54 1990 MVA http://b2.cvl.iis.u-tokyo.ac.jp/mva/proceedings/CommemorativeDVD/1990/papers/1990051.pdf conf/mva/1990 db/conf/mva/mva1990.html#DoKL90