@inproceedings{gao2011obstacle,
  title={Obstacle detection by ground homograph estimation during autonomous navigation},
  author={Gao, Yuan and Ma, Jiayi and Jiang, Wenjuan and Tian, Jinwen},
  booktitle={Seventh International Symposium on Multispectral Image Processing and Pattern Recognition (MIPPR2011)},
  pages={80030K--80030K},
  year={2011},
  organization={International Society for Optics and Photonics}
}