Mobile robot sonar interpretation algorithm for distinguishing trees from poles. - Wen Gao 004; Mark K. Hinders (Robotics Auton. Syst., 2005)

Mobile Robot Sonar Backscatter Algorithm for Automatically Distinguishing Walls, Fences, and Hedges. - Wen Gao 004; Mark K. Hinders (Int. J. Robotics Res., 2006)