@article {Manduchi05, title = {Obstacle Detection and Terrain Classification for Autonomous Off-Road Navigation}, journal = {Auton. Robots}, volume = {18}, number = {1}, year = {2005}, pages = {81{\textendash}102}, url = {http://users.soe.ucsc.edu/~manduchi/papers/AutRobots.pdf}, author = {Roberto Manduchi and Castano, A. and Talukder, A. and Matthies, L.} }