1BERTOZZI M,GOLD A. A parallel real-time stetro vision system for generic obstacle and lane detection[J].IEEE Transactions on Image Processing,1998,(01):62-81.doi:10.1109/83.650851.
2G.Bradski,J.Davis. Motion Segmentation and Pose Recognition with Motion History Gradients[J].Machine Vision and Applications,2002.174-184.