@conference {Roberts14iros,
	title = {Direct Superpixel Labeling for Mobile Robot Navigation Using Learned General Optical Flow Templates},
	booktitle = {Intelligent Robots and Systems (IROS), 2014 IEEE/RSJ International Conference on},
	year = {2014},
	url = {http://frank.dellaert.com/pub/Roberts14iros.pdf},
	author = {Richard Roberts and Frank Dellaert}
}