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Knowledge of the 3-D layout in front of a moving robot or vehicle is essential for obstacle avoidance and navigation. Currently the most common methods for acquiring that information rely on 'active' technologies which project light into the world (e.g., LIDAR). Some passive (non-emitting) systems use stereo cameras but only a relatively small number of techniques attempt to solve the 3-D layout problem using the information from a single video camera. A single camera offers many advantagesdoi:10.1109/ivcnz.2018.8634781 dblp:conf/ivcnz/PerroneCHC18 fatcat:5lpmllaxyzdnvmahc3zx4pbyzm