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Real-Time Estimation of Fast Egomotion with Feature Classification Using Compound Omnidirectional Vision SensorNGO, Trung Thanh; KOJIMA, Yuichiro; NAGAHARA, Hajime; SAGAWA, Ryusuke; MUKAIGAWA, Yasuhiro; YACHIDA, Masahiko; YAGI, Yasushi · IEICE Transactions on Information and Systems · 2010