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P. Pinggera, Ramos, S., Gehrig, S., Franke, U., Rother, C., and Mester, R., “Lost and found: Detecting small road hazards for self-driving vehicles”, in IEEE International Conference on Intelligent Robots and Systems, 2016, vol. 2016-Novem, pp. 1099–1106.

S. Ramos, Gehrig, S., Pinggera, P., Franke, U., and Rother, C., “Detecting unexpected obstacles for self-driving cars: Fusing deep learning and geometric modeling”, in IEEE Intelligent Vehicles Symposium, Proceedings, 2017, pp. 1025–1032.