Ruyi Jiang Mutsuhiro Terauchi Reinhard Klette Shigang Wang Tobi Vaudrey Low-Level Image Processing for Lane Detection and Tracking. 190-197 2009 ArtsIT http://dx.doi.org/10.1007/978-3-642-11577-6_24 conf/artsit/2009 db/conf/artsit/artsit2009.html#JiangTKWV09