D. Medeiros, T. Araújo, E. Silva Júnior, and G. Ramalho. "Using images to avoid collisions and bypass obstacles in indoor environments", in Anais Estendidos da XXXIV Conference on Graphics, Patterns and Images, Online, 2021, pp. 158-161, doi: https://doi.org/10.5753/sibgrapi.est.2021.20030.