The surface patch library (SPL). Kanoulas, D. & Vona, M. In IEEE ICRA Workshop, 2014.
bibtex   
@inproceedings{kanoulas2014surface,
  title={The surface patch library (SPL)},
  author={Kanoulas, Dimitrios and Vona, Marsette},
  booktitle={IEEE ICRA Workshop},
  year={2014}
}

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