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P. H. Yuan, K. F. Yang and W. H. Tsai “Real-Time Security Monitoring Around a Video Surveillance Vehicle With a Pair of Two-Camera Omni-Imaging Devices,” IEEE Transaction on Vehicular Technology, Vol. 60, No. 8, 2011, pp. 3603-3614. doi:10.1109/TVT.2011.2162862

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