@ARTICLE{Einhorn-RAS-2011,
  author = {Einhorn, Erik and Schroeter, {\relax Ch}ristof and Gross, Horst-Michael},
  title = {Attention-Driven Monocular Scene Reconstruction for Obstacle Detection,
    Robot Navigation and Map Building},
  journal = {Robotics and Autonomous Systems (RAS)},
  year = {2011},
  volume = {59},
  pages = {296--309},
  number = {5}
}