Obstacle avoidance and trajectory planning for an indoor mobile robot using stereo vision and delaunay triangulation. Buffa, M., Faugeras, O., & Zhang, Z. 1992.
bibtex   
@Misc{Buffa_1992_6786,
  author = {Buffa, Michel and Faugeras, Olivier and Zhang, Zhengyou},
 pages = {268-283},
 publisher = {Springer-Verlag},
 title = {Obstacle avoidance and trajectory planning for an indoor mobile robot using stereo vision and delaunay triangulation},
 year = {1992},
 title_with_no_special_chars = {Obstacle Avoidance and Trajectory Planning for an Indoor Mobile Robot Using Stereo Vision and Delaunay Triangulation}
}
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