@misc{840551,
  author = {H Tsai-Hong and Steven Legowik and M Nashman},
  title = {Obstacle Detection and Mapping System},
  year = {1998},
  month = {1998-08-01 00:08:00},
  publisher = {NIST Interagency/Internal Report (NISTIR), National Institute of Standards and Technology, Gaithersburg, MD},
  url = {https://tsapps.nist.gov/publication/get_pdf.cfm?pub_id=820625},
  language = {en},
}