The following publications are possibly variants of this publication:
- Collision avoidance using omnidirectional image sensor (COPIS)Yasushi Yagi, Shinjiro Kawato, Saburo Tsuji. icra 1990: 910-915 [doi]
- Map based navigation of the mobile robot using omnidirectional image sensor COPISYasushi Yagi, Yoshimitsu Nishizawa, Masahiko Yachida. icra 1992: 47-52 [doi]
- Collision avoidance with the omnidirectional image sensor COPISYasushi Yagi, Shinjiro Kawato, Saburo Tsuji. scjapan, 23(10):54-66, 1992. [doi]
- Map-based navigation for a mobile robot with omnidirectional image sensor COPISYasushi Yagi, Yoshimitsu Nishizawa, Masahiko Yachida. trob, 11(5):634-648, 1995. [doi]
- The integration of an environmental map observed by multiple mobile robots with omnidirectional image sensor COPISYasushi Yagi, Shinichi Izuhara, Masahiko Yachida. iros 1996: 640-647 [doi]