Safe human-robot-cooperation: image-based collision detection for industrial robots. - Dirk M. Ebert; Dominik Henrich (IROS, 2002)

Bildbasierte Erzeugung kollisionsfreier Transferbewegungen für Industrieroboter. - Dirk M. Ebert (2003)

Safe human-robot-coexistence: emergency-stop using a high-speed vision-chip. - Dirk M. Ebert; Takashi Komuro; Akio Namiki; Masatoshi Ishikawa (IROS, 2005)