Real-Time Computation of Distance to Dynamic Obstacles With Multiple Depth Sensors. Flacco, F. & Luca, A. D. IEEE Robotics and Automation Letters, 2(1):56–63, 2017.
bibtex   
@article{DBLP:journals/ral/Flacco017,
  author    = {Fabrizio Flacco and
               Alessandro De Luca},
  title     = {Real-Time Computation of Distance to Dynamic Obstacles With Multiple
               Depth Sensors},
  journal   = {{IEEE} Robotics and Automation Letters},
  volume    = {2},
  number    = {1},
  pages     = {56--63},
  year      = {2017}
}

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