Analysis of ultrasonic differentiation of three dimensional corners, edges and planes. - Mun Li Hong; Lindsay Kleeman (ICRA, 1992)

A Low Sample Rate 3D Sonar Sensor for Mobile Robots. - Mun Li Hong; Lindsay Kleeman (ICRA, 1995)

Ultrasonic classification and location of 3D room features using maximum likelihood estimation - Part I. - Mun Li Hong; Lindsay Kleeman (Robotica, 1997)

Ultrasonic classification and location of 3D room features using maximum likelihood estimation - Part II. - Mun Li Hong; Lindsay Kleeman (Robotica, 1997)