Tetsuji Haga Hideto Fujiwara Kazuhiko Sumi Automatic Intruder Detection and Tracking System with Pan-Tilt-Zoom Camera. 9-14 2000 MVA http://b2.cvl.iis.u-tokyo.ac.jp/mva/proceedings/CommemorativeDVD/2000/papers/2000009.pdf conf/mva/2000 db/conf/mva/mva2000.html#HagaFS00