Giovanni Adorni Luca Bolognini Stefano Cagnoni Monica Mordonini Stereo Obstacle Detection Method for a Hybrid Omni-directional/Pin-Hole Vision System. 244-250 2001 conf/robocup/2001 RoboCup http://link.springer.de/link/service/series/0558/bibs/2377/23770244.htm db/conf/robocup/robocup2001.html#AdorniBCM01