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B. Abou Merhy, P. Payeur, E.M. Petriu, "Texture-Based Segmentation of 3D Probabilistic Occupancy Maps for Robot Navigation", Proceedings of the 3rd International Conference on Autonomous Robots and Agents (ICARA 2006), pp. 231-236, Palmerston North, New Zealand, 12-14 Dec. 2006.