@article{nonflatgrounddetectionbasedonalocal,
  title = {Non-flat Ground Detection Based on A Local Descriptor},
  author = {Kangru Wang and Lei Qu and Lili Chen and Yuzhang Gu and DongChen zhu and Xiaolin Zhang},
  year = {2016},
  eprint = {1609.08436},
  archivePrefix = {arXiv},
  url = {http://arxiv.org/abs/1609.08436v9},
}