Su Hyun Choi, Il Mung Kim, Tea Seok Jin, Jang-Myung Lee, "Obstacle Avoidance Algorithm for Visual Navigation Using Ultrasonic Sensors and a CCD Camera," Proc. of The Seventh Int. Symp. on Artificial Life and Robotics(AROB 7th'02), Beppu, Oita, Japan, 16-18 January, 2002 pp.246-249
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