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Illumination independent change detection for real world image sequences., and . Computer Vision, Graphics, and Image Processing, 46 (3): 387-399 (1989)High-speed range estimation based on intensity gradient analysis.. University of Michigan, USA, (1990)Automatic Solder Joint Inspection., , , , , and . IEEE Trans. Pattern Anal. Mach. Intell., 10 (1): 31-43 (1988)Range estimation from intensity gradient analysis., and . ICRA, page 43-48. IEEE Computer Society, (1989)