Chin-Teng Lin Tzu-Kuei Shen Yu-Wen Shou Construction of Fisheye Lens Inverse Perspective Mapping Model and Its Applications of Obstacle Detection. 2010 2010 EURASIP J. Adv. Sig. Proc. http://dx.doi.org/10.1155/2010/296598 db/journals/ejasp/ejasp2010.html#LinSS10