Collision Avoidance and Path Finding through Constrained Distance Tranceformation in Robot State Space. - Piet W. Verbeek; Leo Dorst; Ben J. H. Verwer; Frans C. A. Groen (IAS, 1986)

Improved metrics in image processing applied to the Hilditch skeleton. - Ben J. H. Verwer (ICPR, 1988)

A Hardware Architecture for Robot Path Planning. - Pieter P. Jonker; Simon T. Dekker; Ben J. H. Verwer (MVA, 1988)

A contour processing method for fast binary neighbourhood operations. - Lucas J. van Vliet; Ben J. H. Verwer (Pattern Recognit. Lett., 1988)

An Efficient Uniform Cost Algorithm Applied to Distance Transforms. - Ben J. H. Verwer; Piet W. Verbeek; Simon T. Dekker (IEEE Trans. Pattern Anal. Mach. Intell., 1989)

2-D adaptive smoothing by 3-D distance transformation. - Piet W. Verbeek; Ben J. H. Verwer (Pattern Recognit. Lett., 1989)

A multiresolution work space, multiresolution configuration space approach to solve the path planning problem. - Ben J. H. Verwer (ICRA, 1990)

Shading from shape, the eikonal equation solved by grey-weighted distance transform. - Piet W. Verbeek; Ben J. H. Verwer (Pattern Recognit. Lett., 1990)

Local distances for distance transformations in two and three dimensions. - Ben J. H. Verwer (Pattern Recognit. Lett., 1991)

Binary and Grey-Value Skeletons: Metrics and Algorithms. - Ben J. H. Verwer; Lucas J. van Vliet; Piet W. Verbeek (Int. J. Pattern Recognit. Artif. Intell., 1993)