Sander R. Klomp, Dennis W. J. M. van de Wouw, Peter H. N. de With, "Real-time Small-object Change Detection from Ground Vehicles Using a Siamese Convolutional Neural Network" in Proc. IS&T Int’l. Symp. on Electronic Imaging: Intelligent Robotics and Industrial Applications using Computer Vision, 2019, pp 60402-1 - 60402-16, https://doi.org/10.2352/J.ImagingSci.Technol.2019.63.6.060402