On robot self-navigation in outdoor environments by color image processing. - Ramin Ghurchian; Takayuki Takahashi; Zhi Dong Wang; Eiji Nakano (ICARCV, 2002)

A fast forest road segmentation for real-time robot self-navigation. - Ramin Ghurchian; Satoshi Hashino; Eiji Nakano (IROS, 2004)

Shadow Compensation in Color Images for Unstructured Road Segmentation. - Ramin Ghurchian; Satoshi Hashino (MVA, 2005)