Three-dimensional road shape reconstruction from a single image. - Yoshiteru Kawasaki; Yasushi Yagi; Michael Brady 001; Masahiko Yachida (Adv. Robotics, 1998)

Active Contour Road Model for Smart Vehicle. - Yasushi Yagi; Yoshiteru Kawasaki; Masahiko Yachida; Michael Brady 001 (ICPR, 2000)