Taketoshi Mori Yoshikatsu Kamisuwa Hiroshi Mizoguchi Tomomasa Sato Action recognition system based on human finder and human tracker. 1334-1341 1997 IROS https://doi.org/10.1109/IROS.1997.656467 conf/iros/1997 db/conf/iros/iros1997.html#MoriKMS97