@INPROCEEDINGS{liu2014icra, 
author={Ming Liu and Siegwart, R.}, 
booktitle={Robotics and Automation (ICRA), 2014 IEEE International Conference on}, 
title={Navigation on point-cloud #x2014; A Riemannian metric approach}, 
year={2014}, 
pages={4088-4093}, 
keywords={mobile robots;path planning;robot vision;2.5D navigation problem;2D-manifold;3D ambient space;3D tensor voting framework;Riemannian metric approach;TVF;latent traversable surface;meshing process;mobile wheeled robots;path planning;point-cloud navigation;reconstruction method;robot maneuver;surface parametrization method;three dimensional ambient space;tracked-robots;Measurement;Planning;Robots;Tensile stress;Three-dimensional displays;Trajectory;Vectors}, 
doi={10.1109/ICRA.2014.6907453}, 
month={May},}