Eric Krotkov Knud Henriksen Ralf Kories Stereo Ranging with Verging Cameras. 1200-1205 1990 12 IEEE Trans. Pattern Anal. Mach. Intell. 12 http://computer.org/tpami/tp1990/i1200abs.htm db/journals/pami/pami12.html#KrotkovHK90