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Through the eyes of Autonomous Vehicles – using laser scann..:

Belkouri, Daria ; Laing, Richard ; Gray, David
https://nrl.northumbria.ac.uk/id/eprint/50009/1/1-s2.0-S2352146521009650-main.pdf.  , 2022
Link: https://nrl.northumbria.ac.uk/id/eprint/50009/