Madoka Otuka Kenichi Kamino Tameharu Hasegawa Detection of the Road Area at the Ordinary Road. 518-521 2005 MVA http://b2.cvl.iis.u-tokyo.ac.jp/mva/proceedings/CommemorativeDVD/2005/papers/2005518.pdf conf/mva/2005 db/conf/mva/mva2005.html#OtukaKH05