Tomoaki Teshima Hideo Saito Shinji Ozawa Keiichi Yamamoto Tohru Ihara Estimation of FOE Without Optical Flow for ehicle Lateral Position Detection. 406-409 2005 MVA http://b2.cvl.iis.u-tokyo.ac.jp/mva/proceedings/CommemorativeDVD/2005/papers/2005406.pdf conf/mva/2005 db/conf/mva/mva2005.html#TeshimaSOYI05