@INPROCEEDINGS{Maric2021_isr,

  author={Mari{\'c}, Bruno and Jurican, Fran and Orsag, Matko and Kova{\v{c}}i{\'c}, Zdenko},

  booktitle={2021 IEEE International Conference on Intelligence and Safety for Robotics (ISR)}, 

  title={Vision based collision detection for a safe collaborative industrial manipulator}, 

  year={2021},

  volume={},

  number={},

  pages={334-337},

  doi={10.1109/ISR50024.2021.9419493}}

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