Lane marking detection based on Convolution Neural Network from point clouds. - Bei He; Rui Ai 003; Yang Yan; Xianpeng Lang (ITSC, 2016)

Effective and robust corrugated beam guardrail detection based on mobile laser scanning data. - Yu Jiang; Bei He; Li Liu; Rui Ai 003; Xianpeng Lang (ITSC, 2016)

Accurate and robust lane detection based on Dual-View Convolutional Neutral Network. - Bei He; Rui Ai 003; Yang Yan; Xianpeng Lang (Intelligent Vehicles Symposium, 2016)