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Zingaretti P, Tascini G, Puliti P, Zanoli S.M..  1996.  Imaging approach to real-time tracking of submarine pipeline. Proceedings of SPIE - The International Society for Optical Engineering. 2661:129-137.
Zingaretti P, Zanoli S.M..  1998.  Robust real-time detection of an underwater pipeline. Engineering Applications of Artificial Intelligence. 11:257-268.