Daisuke Sekimori Tomoya Usui Yasuhiro Masutani Fumio Miyazaki High-Speed Obstacle Avoidance and Self-Localization for Mobile Robots Based on Omni-directional Imaging of Floor Region. 204-213 2001 conf/robocup/2001 RoboCup http://link.springer.de/link/service/series/0558/bibs/2377/23770204.htm db/conf/robocup/robocup2001.html#SekimoriUMM01