Zhigang et al. 1994 : Presents a new framework for detection of dynamic obstacles in the unstructured outdoor road environment by integrating binocular color image sequences. In the authors' system, color image segmentation, stereo obstacle detection, visual egomotion estimation, and moving object analysis, are all built-in task-oriented modules and hence are efficient and robust. Most of these functions can be performed in real-time. They are activated and integrated adaptively in the manner of neural parallel distributed processing (PDP). Experimental results are given to validate the authors' philosophy of so-called purposive vision, retinal mapping, adaptive integration and parallel distributed processing.