Automatic recognition of railway signs using SIFT features. - Bogdan Tomoyuki Nassu; Masato Ukai (Intelligent Vehicles Symposium, 2010)

Rail extraction for driver support in railways. - Bogdan Tomoyuki Nassu; Masato Ukai (Intelligent Vehicles Symposium, 2011)

A Vision-Based Approach for Rail Extraction and its Application in a Camera Pan-Tilt Control System. - Bogdan Tomoyuki Nassu; Masato Ukai (IEEE Trans. Intell. Transp. Syst., 2012)

Moving camera background-subtraction for obstacle detection on railway tracks. - Hiroki Mukojima; Daisuke Deguchi; Yasutomo Kawanishi; Ichiro Ide; Hiroshi Murase; Masato Ukai; Nozomi Nagamine; Ryuta Nakasone (ICIP, 2016)