Bildverstehen im innerstädtischen Verkehr. - Uwe Franke; Dariu Gavrila; Steffen Görzig; Frank Lindner; Frank Paetzold; Christian Wöhler (AMS, 1998)

Autonomous Driving Goes Downtown. - Uwe Franke; Dariu Gavrila; Steffen Görzig; Frank Lindner; Frank Paetzold; Christian Wöhler (IEEE Intell. Syst., 1998)

Road recognition in urban environment. - Frank Paetzold; Uwe Franke (Image Vis. Comput., 2000)

Interpretation of visually sensed urban environment for a self-driving car. - Frank Paetzold (2000)