Curved Surface Patches for Rough Terrain Perception. Kanoulas, D. Ph.D. Thesis, Northeastern University, 2014.
bibtex   
@phdthesis{kanoulas2014curved,
  title={Curved Surface Patches for Rough Terrain Perception},
  author={Kanoulas, Dimitrios},
  year={2014},
  school={Northeastern University}
}

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