@INPROCEEDINGS{wang2020applying,
  author={Hengli Wang and Rui Fan and Yuxiang Sun and Ming Liu},
  booktitle={2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)}, 
  title={Applying Surface Normal Information in Drivable Area and Road Anomaly Detection for Ground Mobile Robots}, 
  year={2020},
  volume={},
  number={},
  pages={2706-2711},
  doi={10.1109/IROS45743.2020.9341340}}