Estimating location and avoiding collision against unknown obstacles for the mobile robot using omnidirectional image sensor COPIS. - Yasushi Yagi; Yoshimitsu Nishizawa; Masahiko Yachida (IROS, 1991)

Map based navigation of the mobile robot using omnidirectional image sensor COPIS. - Yasushi Yagi; Yoshimitsu Nishizawa; Masahiko Yachida (ICRA, 1992)

Map-based navigation for a mobile robot with omnidirectional image sensor COPIS. - Yasushi Yagi; Yoshimitsu Nishizawa; Masahiko Yachida (IEEE Trans. Robotics Autom., 1995)