Kentaro Kayama Ikuko Eguchi Yairi Seiji Igi Hiroshi Yoshimizu Road Observation System in Residential Areas for Supporting Pedestrian. 534-537 2002 MVA http://b2.cvl.iis.u-tokyo.ac.jp/mva/proceedings/CommemorativeDVD/2002/papers/2002534.pdf conf/mva/2002 db/conf/mva/mva2002.html#KayamaYIY02