Satoshi Yasutomi Hideo Mori Shinji Kotani Finding pedestrians by estimating temporal-frequency and spatial-period of the moving objects. 25-34 1996 17 Robotics and Autonomous Systems 1-2 http://dx.doi.org/10.1016/0921-8890(95)00059-3 db/journals/ras/ras17.html#YasutomiMK96