Ground Plane Obstacle Detection Under Variable Camera Geometry Using a Predictive Stereo Matcher. - Stuart M. Cornell; John Porrill; John E. W. Mayhew (BMVC, 1992)

ANIT - A System for Perceptual Subsumption and Intelligent Vision Systems. - Stuart M. Cornell; John E. W. Mayhew; Sam Harrison (BMVC, 1994)