Naoto Nakamura Yoshiaki Akazawa Shigeru Takano Yoshihiro Okada Virtual Space Construction Based on Contact Constraints Using Robot Vision Technology for 3D Graphics Applications. 469-474 2007 RO-MAN http://dx.doi.org/10.1109/ROMAN.2007.4415129 conf/ro-man/2007 db/conf/ro-man/ro-man2007.html#NakamuraATO07