Bo Zheng Jie Shen Liang He 0012 Tao Hu Tao Cao Muzi Li A Method for Slope Detection of Planetary Surface in The Autonomous Obstacle Avoidance of Planetary Rover. 386-390 2021 ISCSIC https://doi.org/10.1109/ISCSIC54682.2021.00075 conf/iscsic/2021 db/conf/iscsic/iscsic2021.html#ZhengS0HCL21