@inproceedings{wang2020applying,
  title        = {Applying surface normal information in drivable area and road anomaly detection for ground mobile robots},
  author       = {Wang, Hengli and Fan, Rui and Sun, Yuxiang and Liu, Ming},
  booktitle    = {2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  pages        = {2706--2711},
  year         = {2020},
  organization = {IEEE},
  doi          = {10.1109/IROS45743.2020.9341340}
}