Handling of randomly located moving parts using FPGA-based realtime vision. - Shinichi Hirai; Tatsuhiko Tsuboi; Masakazu Zakouji; Mizuho Shibata (ICARCV, 2002)

Parallel Processing of One-Sided Radon Transform for the Realtime Detection of Position and Orientation of Planar Motion Objects. - Tatsuhiko Tsuboi; Masakazu Zakouji; Akihiro Masubuchi; Shinichi Hirai (ICRA, 2002)

Realtime FPGA-Based Vision System. - Shinichi Hirai; Masakazu Zakouji; Akihiro Masubuchi; Tatsuhiko Tsuboi (J. Robotics Mechatronics, 2005)