Francisco Antonio Pujol López Pablo Suau Pérez Mar Pujol López Ramón Rizo Aldeguer Maria José Pujol Selection of an Automated Morphological Gradien Threshold for Image Segmentation. Application to Vision-Based Path Planning. 667-676 http://dx.doi.org/10.1007/978-3-540-30498-2_67 2004 conf/iberamia/2004 IBERAMIA db/conf/iberamia/iberamia2004.html#PujolSPRP04