Chau Nguyen Viet and  Ian Marshall,  An Efficient Obstacle Detection Algorithm Using Colour and Texture.   journal   = {International Journal of Computer and Information Engineering}, [online]. World Academy of Science, Engineering and Technology.
    December 2009, vol. 36(12). 2756 - 2761
    [viewed 19 April 2021]. Available from: https://publications.waset.org/pdf/1945.