@article { nourbakhsh1997mr,
	title = {Mobile robot obstacle avoidance via depth from focus},
	journal = {Robotics and Autonomous Systems},
	volume = {22},
	number = {2},
	year = {1997},
	pages = {151--158},
	publisher = {Elsevier Science},
	type = {article},
	author = { Nourbakhsh, I.  and  Andre, D.  and  Tomasi, C.  and  Genesereth, M.}
}