@misc{1204741, author = {Tsai-Hong Hong and Steven Legowik and Marilyn Nashman}, title = {Obstacle detection and mapping system:}, year = {1998}, month = {1998-01-01 05:01:00}, publisher = {, National Institute of Standards and Technology, Gaithersburg, MD}, doi = {https://doi.org/10.6028/NIST.IR.6213}, language = {en}, }