@conference {Gallo08, title = {Robust curb and ramp detection for safe parking using the Canesta TOF camera}, booktitle = {IEEE Workshop on Time of Flight based Computer Vision (TOF-CV)}, year = {2008}, url = {http://users.soe.ucsc.edu/~orazio/papers/CC-Ransac.pdf}, author = {Gallo, O. and Roberto Manduchi and Rafii, A.} }