High-speed object tracking in ordinary surroundings based on temporally evaluated optical flow. - Ryuzo Okada; Junji Oaki; Daisuke Yamamoto; Nobuhiro Kondoh; Hiroshi Miyazaki; Koki Uesugi; Jiro Amemiya; Kenji Shirakawa; Atsushi Kunimatsu (IROS, 2003)