Sung Shic Park Arcot Sowmya Autonomous Robot Navigation by Active Visual Motion Analysis and Understanding. 38-41 1998 MVA http://b2.cvl.iis.u-tokyo.ac.jp/mva/proceedings/CommemorativeDVD/1998/papers/1998038.pdf conf/mva/1998 db/conf/mva/mva1998.html#ParkS98