@inproceedings{wang2020applying, title = {Applying surface normal information in drivable area and road anomaly detection for ground mobile robots}, author = {Wang, Hengli and Fan, Rui and Sun, Yuxiang and Liu, Ming}, booktitle = {2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)}, pages = {2706--2711}, year = {2020}, organization = {IEEE}, doi = {10.1109/IROS45743.2020.9341340} }