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This paper addresses the problem of moving obstacle detection for autonomous mobile robots in unknown urban environments through the fusion of (vehicle-mounted) forward looking laser and vision sensors. In this approach we reparameterize the 2D gaussian distribution of the laser freeconfiguration eigenspaces by vision saliency gaussian kernel function. The approach uses bi-sensor paradigm to achieve greater effective mapping of the environment and improved accuracy in obstacle positiondoi:10.1109/isda.2010.5687048 dblp:conf/isda/ZiaGC10 fatcat:s4hst7vqpfcmze7r2tk57whany