Feng Xue, Anlong Ming, Menghan Zhou, Yu Zhou
A Novel Multi-layers Framework for Tiny Obstacle Discovery，
in Proceedings of the 2019 International Conference on Robotics and Automation (ICRA), 2019.

 pdf: https://arxiv.org/abs/1904.10161v3

code-matlab: https://github.com/XuefengBUPT/Tiny-Obstacle-Discovery

code-python: https://github.com/XuefengBUPT/Tiny-Obstacle-Discovery-ROS