@conference {CoughlanMS06, title = {Computer Vision-Based Terrain Sensors for Blind Wheelchair Users}, booktitle = {Proceedings of the International Conference on Computers Helping People (ICCHP)}, year = {2006}, url = {http://users.soe.ucsc.edu/~manduchi/papers/wheelchairICCHP2006.pdf}, author = {Coughlan, J. and Roberto Manduchi and Shen, H.} }