@article{realtimefreespacesegmentationon,
  title = {Real-Time Freespace Segmentation on Autonomous Robots for Detection of Obstacles and Drop-Offs},
  author = {Anish Singhani},
  year = {2019},
  eprint = {1902.00842},
  archivePrefix = {arXiv},
  url = {http://arxiv.org/abs/1902.00842v1},
}