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Jiang Yu Zheng, Matthew J. Barth, Saburo Tsuji. Qualitative route scene description using autonomous landmark detection. In Third International Conference on Computer Vision, ICCV 1990. Osaka, Japan, 4-7 December, 1990, Proceedings. pages 558-562, IEEE, 1990. [doi]

The following publications are possibly variants of this publication:

Finding landmarks autonomously along a routeShigang Li 0001, Saburo Tsuji. icpr 1992: 316-319 [doi]

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