KeyGraph: Automatic Indexing by Co-Occurrence Graph Based on Building Construction Metaphor. - Yukio Ohsawa; Nels E. Benson; Masahiko Yachida (ADL, 1998)

Generation of stationary environmental map under unknown robot motion. - Yasushi Yagi; Hiroaki Hamada; Nels E. Benson; Masahiko Yachida (IROS, 2000)

Rolling and swaying motion estimation for a mobile robot by using omnidirectional optical flows. - Yasushi Yagi; Wataru Nishi; Nels E. Benson; Masahiko Yachida (Mach. Vis. Appl., 2003)