J. L. Barron, D. J. Fleet, and S. S. Beauchemin, Performance of optical flow techniques, IJCV, pp.43-77, 1994.

C. Braillon, C. Pradalier, J. L. Crowley, and C. Laugier, Real-time moving obstacle detection using optical flow models, 2006 IEEE Intelligent Vehicles Symposium, 2006.
DOI : 10.1109/IVS.2006.1689672
URL : https://hal.archives-ouvertes.fr/inria-00182027

T. Brox, A. Bruhn, N. Papenberg, and J. Weickert, High Accuracy Optical Flow Estimation Based on a Theory for Warping, pp.25-36, 2004.
DOI : 10.1007/978-3-540-24673-2_3

A. Bruhn, J. Weickert, C. Feddern, T. Kohlberger, and C. Schnorr, Variational optical flow computation in real time, IEEE Transactions on Image Processing, vol.14, issue.5, pp.608-615, 2005.
DOI : 10.1109/TIP.2005.846018

A. Bruhn, J. Weickert, and C. Schnrr, Lucas/Kanade Meets Horn/Schunck: Combining Local and Global Optic Flow Methods, International Journal of Computer Vision, vol.61, issue.3, pp.211-231, 2005.
DOI : 10.1023/B:VISI.0000045324.43199.43

R. Collins, A. Lipton, H. Fujiyoshi, and T. Kanade, Algorithms for cooperative multisensor surveillance, Proc. of the IEEE, pp.1456-1477, 2001.
DOI : 10.1109/5.959341

E. D. Dicksmanns, The development of machine vision for road vehicles in the last decade, 2002.

A. Elfes, Using occupancy grids for mobile robot perception and navigation, Computer, vol.22, issue.6, pp.46-57, 1989.
DOI : 10.1109/2.30720

B. K. Horn and B. G. Schunck, Determining optical flow, Artificial Intelligence, vol.17, issue.1-3, pp.185-203, 1981.
DOI : 10.1016/0004-3702(81)90024-2

Q. Ke and T. Kanade, Transforming camera geometry to a virtual downwardlooking camera: robust ego-motion estimation and ground layer detection, 2003.

K. Konolige, Improved occupancy grids for map building, pp.351-367, 1997.

H. C. Longuet-higgins, The Visual Ambiguity of a Moving Plane, Proceedings of the Royal Society B: Biological Sciences, vol.223, issue.1231, 1984.
DOI : 10.1098/rspb.1984.0088

J. A. Nelder and R. Mead, A Simplex Method for Function Minimization, The Computer Journal, vol.7, issue.4, pp.308-313, 1965.
DOI : 10.1093/comjnl/7.4.308

C. Stauffer and W. E. Grimson, Adaptative background mixture models for real-time tracking, 1998.

A. Talukder and L. Matthies, Real-time detection of moving objects from moving vehicles using dense stereo and optical flow, 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566), 2004.
DOI : 10.1109/IROS.2004.1389993

K. Young-geun and K. Hakil, Layered ground floor detection fo vision-based mobile robot navigation, ICRA, pp.13-18, 2004.