Auto-calibration - Kruppa's Equations and the Intrinsic Parameters of a Camera. - S. D. Hippisley-Cox; John Porrill (BMVC, 1994)

Ground Plane Obstacle Detection of Stereo Vision under Variable Camera Geometry Using Neural Nets. - Y. Shao; John E. W. Mayhew; S. D. Hippisley-Cox (BMVC, 1995)