A Robust QR and Computer Vision-Based Sensorless Steering Angle Control, Localization, and Motion Planning of Self-Driving Vehicles. - Samia Abid; Bashir Hayat; Sarmad Shafique; Zain Ali 003; Bilal Ahmed; Faisal Riaz; Tae-Eung Sung; Ki-Il Kim (IEEE Access, 2021)