Franz, MO Department Empirical Inference, Max Planck Institute for Biological Cybernetics, Max Planck Society; Max Planck Institute for Biological Cybernetics, Max Planck Society;
https://www.mitpressjournals.org/doi/pdf/10.1162/0899766041941899 (Publisher version)
Franz, M., Chahl, J., & Krapp, H. (2004). Insect-inspired estimation of egomotion. Neural computation, 16(11), 2245-2260. doi:10.1162/0899766041941899.