A morphological model-driven approach to real-time road boundary detection for vision-based automotive systems. - Alberto Broggi; Simona Bertè (WACV, 1994)

Vision-Based Road Detection in Automotive Systems: A Real-Time Expectation-Driven Approach. - Alberto Broggi; Simona Bertè (J. Artif. Intell. Res., 1995)