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Pavel Chmelar and  Martin Dobrovolny,  The Laser Line Detection for Autonomous Mapping Based on Color Segmentation.   journal   = {International Journal of Mathematical, Computational, Physical, Electrical and Computer Engineering}, [online]. World Academy of Science, Engineering and Technology. December 2013, vol. 84(12). 1654 - 1658[viewed 24 October 2017]. Available from: http://waset.org/publications/9996622.