@INPROCEEDINGS{Einhorn-ECMR-2007,
  author = {Einhorn, Erik and Schroeter, {\relax Ch}ristof and Boehme, Hans-Joachim
    and Gross, Horst-Michael},
  title = {A Hybrid Kalman Filter Based Algorithm for Real-Time Visual Obstacle
    Detection},
  booktitle = {Europ. Conf. on Mobile Robots (ECMR)},
  year = {2007},
  pages = {156--161},
  publisher = {Albert-Ludwigs-Universitaet Freiburg -- Universitaetsverlag}
}