Detecting and Tracking Linear Features Efficiently. - John C. Clarke; Stefan Carlsson; Andrew Zisserman (BMVC, 1996)

Detection and tracking of independent motion. - John C. Clarke; Andrew Zisserman (Image Vis. Comput., 1996)

Colour Vision for Robot Navigation. - John C. Clarke; J. L. Nunes (IIA/SOCO, 1999)