@article{ran2017convolutional,
  title={Convolutional Neural Network-Based Robot Navigation Using Uncalibrated Spherical Images},
  author={Ran, Lingyan and Zhang, Yanning and Zhang, Qilin and Yang, Tao},
  journal={Sensors},
  volume={17},
  number={6},
  pages={1341},
  year={2017},
  publisher={Multidisciplinary Digital Publishing Institute}
}