A Real-Time Road Following and Road Junction Detection Vision System for Autonomous Vehicles. - Darwin T. Kuan; Gary Phipps; A-Chuan Hsueh (AAAI, 1986)

Autonomous Robotic Vehicle Road Following. - Darwin T. Kuan; Gary Phipps; A-Chuan Hsueh (IEEE Trans. Pattern Anal. Mach. Intell., 1988)