Nobuhiro Tsunashima Masato Nakajima Detection of the Front Vehicle from the Stereoscopic Image Using Hierarchy Process. 31-33 1998 MVA http://b2.cvl.iis.u-tokyo.ac.jp/mva/proceedings/CommemorativeDVD/1998/papers/1998031.pdf conf/mva/1998 db/conf/mva/mva1998.html#TsunashimaN98