Yue Wang Dinggang Shen Eam Khwang Teoh Han Wang A Novel Lane Model for Lane Boundary Detection. 27-30 1998 MVA http://b2.cvl.iis.u-tokyo.ac.jp/mva/proceedings/CommemorativeDVD/1998/papers/1998027.pdf conf/mva/1998 db/conf/mva/mva1998.html#WangSTW98