Brian McKinnon Jacky Baltes John Anderson Stereo-Vision Based Control of a Car Using Fast Line-Segment Extraction. 556-567 2008 RoboCup http://dx.doi.org/10.1007/978-3-642-02921-9_48 conf/robocup/2008 db/conf/robocup/robocup2008.html#McKinnonBA08