{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,7,21]],"date-time":"2026-07-21T14:29:10Z","timestamp":1784644150246,"version":"3.55.0"},"reference-count":191,"publisher":"Institute of Electrical and Electronics Engineers (IEEE)","issue":"10","license":[{"start":{"date-parts":[[2017,10,1]],"date-time":"2017-10-01T00:00:00Z","timestamp":1506816000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/ieeexplore.ieee.org\/Xplorehelp\/downloads\/license-information\/IEEE.html"}],"funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["61301033"],"award-info":[{"award-number":["61301033"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100004502","name":"Wenfeng Talents of Chongqing University of Posts and Telecommunications","doi-asserted-by":"publisher","id":[{"id":"10.13039\/501100004502","id-type":"DOI","asserted-by":"publisher"}]},{"name":"Research Fund of young-backbone university teacher in Chongqing province"},{"name":"Innovation Team Project of Chongqing Education Committee","award":["CXTDX201601019"],"award-info":[{"award-number":["CXTDX201601019"]}]},{"DOI":"10.13039\/501100004502","name":"Research Funds of Chongqing University of Posts and Telecommunications","doi-asserted-by":"publisher","award":["A2012-25"],"award-info":[{"award-number":["A2012-25"]}],"id":[{"id":"10.13039\/501100004502","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100004502","name":"Research Funds of Chongqing University of Posts and Telecommunications","doi-asserted-by":"publisher","award":["A2012-81"],"award-info":[{"award-number":["A2012-81"]}],"id":[{"id":"10.13039\/501100004502","id-type":"DOI","asserted-by":"publisher"}]},{"name":"Mobility Grant with China, multi-vehicle tracking and classification for intelligent transportation systems from the U.K. Royal Society fund","award":["E150823"],"award-info":[{"award-number":["E150823"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IEEE Trans. Intell. Transport. Syst."],"published-print":{"date-parts":[[2017,10]]},"DOI":"10.1109\/tits.2017.2658662","type":"journal-article","created":{"date-parts":[[2017,2,15]],"date-time":"2017-02-15T19:15:12Z","timestamp":1487186112000},"page":"2584-2601","source":"Crossref","is-referenced-by-count":341,"title":["Overview of Environment Perception for Intelligent Vehicles"],"prefix":"10.1109","volume":"18","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-9759-3249","authenticated-orcid":false,"given":"Hao","family":"Zhu","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Ka-Veng","family":"Yuen","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Lyudmila","family":"Mihaylova","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Henry","family":"Leung","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"263","reference":[{"key":"ref170","first-page":"ii-695","article-title":"Multiscale conditional random fields for image labeling","volume":"2","author":"he","year":"2004","journal-title":"Proc IEEE Conf Comput Vis Pattern Recognit"},{"key":"ref172","first-page":"1","article-title":"Deep convolutional networks for scene parsing","author":"grangier","year":"2009","journal-title":"Proc ICML Deep Learn Workshop"},{"key":"ref171","doi-asserted-by":"publisher","DOI":"10.1007\/s11263-007-0069-5"},{"key":"ref174","first-page":"641","article-title":"Cascaded classification models: Combining models for holistic scene understanding","author":"heitz","year":"2008","journal-title":"Proc Adv Neural Inf Process Syst"},{"key":"ref173","first-page":"1","article-title":"Semantic image segmentation with deep convolutional nets and fully connected CRFs","author":"chen","year":"2015","journal-title":"Proc Int Conf Learn Represent"},{"key":"ref176","doi-asserted-by":"publisher","DOI":"10.1109\/ICCV.2013.231"},{"key":"ref175","doi-asserted-by":"publisher","DOI":"10.1109\/TPAMI.2011.232"},{"key":"ref178","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2005.177"},{"key":"ref177","doi-asserted-by":"publisher","DOI":"10.1023\/B:VISI.0000029664.99615.94"},{"key":"ref168","doi-asserted-by":"publisher","DOI":"10.1109\/TPAMI.2015.2473846"},{"key":"ref169","doi-asserted-by":"publisher","DOI":"10.1109\/ICCV.2009.5459211"},{"key":"ref39","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2004.828175"},{"key":"ref38","doi-asserted-by":"publisher","DOI":"10.1109\/JSTARS.2014.2347276"},{"key":"ref33","doi-asserted-by":"publisher","DOI":"10.1016\/j.sigpro.2011.07.019"},{"key":"ref32","doi-asserted-by":"publisher","DOI":"10.1016\/j.inffus.2014.09.003"},{"key":"ref31","doi-asserted-by":"publisher","DOI":"10.1109\/ICIP.2008.4712275"},{"key":"ref30","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2006.213"},{"key":"ref37","first-page":"1","article-title":"Road region estimation using a sequence of monocular images","author":"yamaguchi","year":"2009","journal-title":"Proc 19th Int Conf Pattern Recognit"},{"key":"ref36","doi-asserted-by":"publisher","DOI":"10.1109\/IVS.2006.1689615"},{"key":"ref35","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2009.2018328"},{"key":"ref34","first-page":"480","article-title":"A novel lane feature extraction algorithm based on digital interpolation","author":"wang","year":"2009","journal-title":"Proc 17th Eur Signal Process Conf"},{"key":"ref181","first-page":"1","article-title":"Improving image classification using semantic attributes","volume":"100","author":"su","year":"2010","journal-title":"Int J Comput Vis"},{"key":"ref180","first-page":"487","article-title":"Learning deep features for scene recognition using places database","volume":"1","author":"zhou","year":"2015","journal-title":"Proc Adv Neural Inf Process Syst"},{"key":"ref185","doi-asserted-by":"publisher","DOI":"10.1109\/ICCV.2009.5459411"},{"key":"ref184","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2009.5206872"},{"key":"ref183","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2015.7298916"},{"key":"ref182","doi-asserted-by":"publisher","DOI":"10.1007\/s11263-013-0660-x"},{"key":"ref189","doi-asserted-by":"publisher","DOI":"10.1007\/s11263-006-0031-y"},{"key":"ref188","doi-asserted-by":"publisher","DOI":"10.1109\/3DIMPVT.2011.53"},{"key":"ref187","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-642-33783-3_21"},{"key":"ref186","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2012.6247994"},{"key":"ref28","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-642-03767-2_127"},{"key":"ref27","article-title":"DARPA urban challenge technical paper: Sydney&#x2013;Berkeley driving team","author":"upcroft","year":"2007"},{"key":"ref179","doi-asserted-by":"publisher","DOI":"10.1007\/s11263-013-0636-x"},{"key":"ref29","doi-asserted-by":"publisher","DOI":"10.1109\/ICIP.2009.5413980"},{"key":"ref20","doi-asserted-by":"publisher","DOI":"10.1109\/IVS.2008.4621304"},{"key":"ref22","doi-asserted-by":"publisher","DOI":"10.1109\/CAC.2013.6775702"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2011.2143410"},{"key":"ref24","doi-asserted-by":"publisher","DOI":"10.1007\/s10514-009-9113-3"},{"key":"ref23","first-page":"510","article-title":"An adaptive approach to lane markings detection","volume":"1","author":"li","year":"2003","journal-title":"Proc IEEE Intell Transp Syst"},{"key":"ref101","doi-asserted-by":"publisher","DOI":"10.1109\/TPAMI.2006.104"},{"key":"ref26","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2008.922874"},{"key":"ref100","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2015.2496795"},{"key":"ref25","doi-asserted-by":"publisher","DOI":"10.1093\/ietisy\/e89-d.7.2092"},{"key":"ref50","doi-asserted-by":"publisher","DOI":"10.1016\/j.patrec.2005.07.014"},{"key":"ref51","doi-asserted-by":"publisher","DOI":"10.1109\/ICIP.2006.313004"},{"key":"ref154","doi-asserted-by":"publisher","DOI":"10.1109\/ITSC.2010.5624969"},{"key":"ref153","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2010.2040177"},{"key":"ref156","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2015.2391131"},{"key":"ref155","doi-asserted-by":"publisher","DOI":"10.1109\/IVS.2013.6629618"},{"key":"ref150","doi-asserted-by":"publisher","DOI":"10.1016\/j.eswa.2015.05.055"},{"key":"ref152","doi-asserted-by":"publisher","DOI":"10.1109\/ITSC.2009.5309835"},{"key":"ref151","doi-asserted-by":"publisher","DOI":"10.1109\/IVS.2007.4290123"},{"key":"ref146","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2013.2246835"},{"key":"ref147","doi-asserted-by":"publisher","DOI":"10.1109\/ITSC.2009.5309542"},{"key":"ref148","doi-asserted-by":"publisher","DOI":"10.1109\/IVS.2010.5547967"},{"key":"ref149","doi-asserted-by":"publisher","DOI":"10.1109\/TAES.2014.120766"},{"key":"ref59","first-page":"438","article-title":"Lane detection and tracking using B-Snake","author":"wang","year":"1999","journal-title":"Proc Int Conf Inf Intell Syst"},{"key":"ref58","doi-asserted-by":"publisher","DOI":"10.1109\/CISP.2009.5304294"},{"key":"ref57","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2015.2492019"},{"key":"ref56","doi-asserted-by":"publisher","DOI":"10.1109\/IVS.2008.4621152"},{"key":"ref55","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2013.2252427"},{"key":"ref54","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2011.2173196"},{"key":"ref53","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2015.2464253"},{"key":"ref52","first-page":"3704","article-title":"Robust lane keeping from novel sensor fusion","volume":"4","author":"lee","year":"2001","journal-title":"Proc IEEE Int Conf Robot Autom"},{"key":"ref40","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2004.838221"},{"key":"ref167","doi-asserted-by":"publisher","DOI":"10.1109\/IVS.2011.5940468"},{"key":"ref166","doi-asserted-by":"publisher","DOI":"10.1109\/ITSC.2010.5625262"},{"key":"ref165","doi-asserted-by":"publisher","DOI":"10.1109\/IVS.2010.5548014"},{"key":"ref164","doi-asserted-by":"publisher","DOI":"10.1109\/ICCVW.2011.6130503"},{"key":"ref163","doi-asserted-by":"publisher","DOI":"10.1109\/IVS.2012.6232277"},{"key":"ref162","doi-asserted-by":"publisher","DOI":"10.1109\/IVS.2012.6232199"},{"key":"ref161","doi-asserted-by":"publisher","DOI":"10.1109\/TVT.2008.917220"},{"key":"ref160","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2008.2011694"},{"key":"ref4","article-title":"Sensor fusion for automotive applications","author":"lundquist","year":"2011"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1007\/978-1-4471-2280-7"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2014.2320605"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.1016\/j.inffus.2010.06.001"},{"key":"ref159","first-page":"866","article-title":"Real-time compressive tracking","author":"zhang","year":"2012","journal-title":"Proc Eur Conf Comput Vis"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.1109\/IVS.2011.5940562"},{"key":"ref49","doi-asserted-by":"crossref","first-page":"677","DOI":"10.1016\/S0167-8655(00)00021-0","article-title":"Lane detection using spline model","volume":"21","author":"yue","year":"2000","journal-title":"Pattern Recognit Lett"},{"key":"ref7","article-title":"Learning, modeling, and understanding vehicle surround using multi-modal sensing","author":"sivaraman","year":"2013"},{"key":"ref157","doi-asserted-by":"publisher","DOI":"10.1109\/IVS.2011.5940558"},{"key":"ref158","first-page":"1830","article-title":"Real time robust L1 tracker using accelerated proximal gradient approach","author":"bao","year":"2012","journal-title":"Proc IEEE Conf Comput Vis Pattern Recognit (CVPR)"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2013.2266661"},{"key":"ref46","doi-asserted-by":"publisher","DOI":"10.1109\/IVS.2009.5164338"},{"key":"ref45","first-page":"1","article-title":"Automatic lane detection in image sequences for vision based navigation purposes","author":"samadzadegan","year":"2006","journal-title":"Proc ISPRS Image Eng Vis Metrol"},{"key":"ref48","doi-asserted-by":"publisher","DOI":"10.1016\/j.imavis.2003.10.003"},{"key":"ref47","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2007.908582"},{"key":"ref42","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2004.1315069"},{"key":"ref41","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2005.504"},{"key":"ref44","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2013.2295427"},{"key":"ref43","first-page":"939","article-title":"Color model-based real-time learning for road following","author":"tan","year":"2006","journal-title":"Proc IEEE Intell Transp Syst Conf"},{"key":"ref127","doi-asserted-by":"publisher","DOI":"10.1109\/7.575891"},{"key":"ref126","doi-asserted-by":"publisher","DOI":"10.1016\/j.inffus.2011.03.005"},{"key":"ref125","doi-asserted-by":"publisher","DOI":"10.1109\/TAES.2013.6621839"},{"key":"ref124","doi-asserted-by":"publisher","DOI":"10.1109\/TAES.2010.5417152"},{"key":"ref73","doi-asserted-by":"publisher","DOI":"10.1155\/2008\/386705"},{"key":"ref72","doi-asserted-by":"publisher","DOI":"10.1016\/j.jvcir.2005.10.003"},{"key":"ref129","doi-asserted-by":"publisher","DOI":"10.1016\/0005-1098(75)90021-7"},{"key":"ref71","doi-asserted-by":"publisher","DOI":"10.1049\/iet-its:20070058"},{"key":"ref128","doi-asserted-by":"publisher","DOI":"10.1109\/MAES.2004.1263228"},{"key":"ref70","doi-asserted-by":"publisher","DOI":"10.1007\/s00521-007-0120-z"},{"key":"ref76","doi-asserted-by":"publisher","DOI":"10.1016\/j.patcog.2009.05.018"},{"key":"ref130","doi-asserted-by":"publisher","DOI":"10.1109\/JOE.1983.1145560"},{"key":"ref77","doi-asserted-by":"publisher","DOI":"10.1109\/IVS.2010.5548143"},{"key":"ref74","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2010.2054084"},{"key":"ref75","doi-asserted-by":"publisher","DOI":"10.1109\/IVS.2011.5940408"},{"key":"ref133","doi-asserted-by":"publisher","DOI":"10.1109\/TSP.2006.881190"},{"key":"ref134","doi-asserted-by":"publisher","DOI":"10.1109\/TSP.2013.2257765"},{"key":"ref131","doi-asserted-by":"publisher","DOI":"10.1109\/TAES.2004.1337482"},{"key":"ref78","doi-asserted-by":"publisher","DOI":"10.1109\/IVS.2011.5940429"},{"key":"ref132","doi-asserted-by":"publisher","DOI":"10.1016\/j.inffus.2005.09.009"},{"key":"ref79","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2004.1389331"},{"key":"ref136","doi-asserted-by":"publisher","DOI":"10.1109\/TSP.2014.2323064"},{"key":"ref135","doi-asserted-by":"publisher","DOI":"10.1109\/TSP.2012.2184538"},{"key":"ref138","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2004.828169"},{"key":"ref137","doi-asserted-by":"publisher","DOI":"10.1109\/TPAMI.2011.83"},{"key":"ref60","doi-asserted-by":"publisher","DOI":"10.1109\/ICWAPR.2010.5576425"},{"key":"ref139","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2005.848366"},{"key":"ref62","doi-asserted-by":"publisher","DOI":"10.1109\/TVT.2003.810999"},{"key":"ref61","first-page":"644","article-title":"Road and traffic sign detection and recognition","author":"fleyeh","year":"2005","journal-title":"10th EWGT Meeting and 16th Mini-EURO Conference"},{"key":"ref63","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2012.2209421"},{"key":"ref64","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2015.2433019"},{"key":"ref140","first-page":"686","article-title":"A maximum likelihood approach to joint registration, association and fusion for multi-sensor multi-target tracking","author":"chen","year":"2009","journal-title":"Proc Int Conf Inf Fusion"},{"key":"ref65","doi-asserted-by":"publisher","DOI":"10.1109\/WACV.2009.5403030"},{"key":"ref141","doi-asserted-by":"publisher","DOI":"10.1109\/TAES.2010.5461637"},{"key":"ref66","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-642-21227-7_23"},{"key":"ref142","doi-asserted-by":"publisher","DOI":"10.1109\/TAES.2004.1337456"},{"key":"ref67","doi-asserted-by":"publisher","DOI":"10.1109\/ICIP.2010.5651637"},{"key":"ref143","doi-asserted-by":"publisher","DOI":"10.1016\/j.ins.2015.06.042"},{"key":"ref68","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2008.2011702"},{"key":"ref144","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2012.2202229"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.1109\/MIS.2005.73"},{"key":"ref69","doi-asserted-by":"publisher","DOI":"10.1109\/ICME.2007.4284928"},{"key":"ref145","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2015.2479925"},{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2006.890073"},{"key":"ref109","doi-asserted-by":"publisher","DOI":"10.1155\/2008\/782432"},{"key":"ref95","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2014.2298912"},{"key":"ref190","doi-asserted-by":"publisher","DOI":"10.1007\/s11263-008-0137-5"},{"key":"ref108","doi-asserted-by":"publisher","DOI":"10.1109\/IVS.2009.5164288"},{"key":"ref94","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2012.2225618"},{"key":"ref191","doi-asserted-by":"publisher","DOI":"10.1109\/TPAMI.2013.185"},{"key":"ref107","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2012.2188630"},{"key":"ref93","doi-asserted-by":"publisher","DOI":"10.1109\/IVS.2008.4621282"},{"key":"ref106","doi-asserted-by":"publisher","DOI":"10.1007\/s00138-011-0355-7"},{"key":"ref92","first-page":"83","article-title":"Real-time recognition of road traffic sign in motion image based on genetic algorithm","author":"liu","year":"2002","journal-title":"Proc Int Conf Mach Learn Cybern"},{"key":"ref105","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.1997.606769"},{"key":"ref91","doi-asserted-by":"publisher","DOI":"10.1109\/IVS.2008.4621174"},{"key":"ref104","doi-asserted-by":"publisher","DOI":"10.1016\/0167-8655(91)90039-O"},{"key":"ref90","doi-asserted-by":"publisher","DOI":"10.1109\/TPAMI.2003.1217601"},{"key":"ref103","first-page":"249","article-title":"Color modeling by spherical influence field in sensing driving environment","author":"guo","year":"2000","journal-title":"Proc IEEE Intell Vehicles Symp"},{"key":"ref102","doi-asserted-by":"publisher","DOI":"10.1016\/S0952-1976(97)00079-1"},{"key":"ref111","first-page":"548","article-title":"Realtime obstacle detection and tracking based on constrained Delaunay triangulation","author":"zu","year":"2006","journal-title":"Proc Int IEEE Conf Intell Transp Syst"},{"key":"ref112","doi-asserted-by":"publisher","DOI":"10.1109\/IVS.2005.1505089"},{"key":"ref110","doi-asserted-by":"publisher","DOI":"10.1007\/s00138-011-0388-y"},{"key":"ref98","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2015.2459594"},{"key":"ref99","doi-asserted-by":"publisher","DOI":"10.1109\/TVT.2015.2500275"},{"key":"ref96","doi-asserted-by":"publisher","DOI":"10.1109\/TSMC.2015.2427771"},{"key":"ref97","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2015.2482461"},{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.1016\/S0262-8856(03)00004-0"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2006.869595"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.1007\/s00138-011-0404-2"},{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.1109\/TIP.2015.2456502"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.1109\/EuRAD.2014.6991322"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2006.883940"},{"key":"ref118","doi-asserted-by":"publisher","DOI":"10.1109\/ITSC.2011.6082960"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-642-04667-4_27"},{"key":"ref82","first-page":"24","article-title":"Unifying visual saliency with HOG feature learning for traffic sign detection","author":"xie","year":"2009","journal-title":"Proc IEEE Intell Vehicles Symp"},{"key":"ref117","doi-asserted-by":"publisher","DOI":"10.1109\/IVS.2010.5548122"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-540-72849-8_2"},{"key":"ref81","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2011.2157497"},{"key":"ref18","doi-asserted-by":"publisher","DOI":"10.1109\/TPAMI.2006.18"},{"key":"ref84","doi-asserted-by":"publisher","DOI":"10.1109\/IVS.2005.1505111"},{"key":"ref119","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2012.2188393"},{"key":"ref19","first-page":"2594","article-title":"Pedestrian lane detection for assistive navigation of blind people","author":"le","year":"2012","journal-title":"Proc 21st Int Conf Pattern Recognit"},{"key":"ref83","doi-asserted-by":"publisher","DOI":"10.1109\/IVS.2011.5940549"},{"key":"ref114","doi-asserted-by":"publisher","DOI":"10.1109\/IVS.2006.1689658"},{"key":"ref113","doi-asserted-by":"publisher","DOI":"10.1109\/ITSC.2005.1520202"},{"key":"ref116","doi-asserted-by":"publisher","DOI":"10.1109\/IVS.2008.4621275"},{"key":"ref80","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2008.922935"},{"key":"ref115","doi-asserted-by":"publisher","DOI":"10.1109\/IVS.2009.5164330"},{"key":"ref120","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2011.2158097"},{"key":"ref89","doi-asserted-by":"publisher","DOI":"10.1109\/IVS.2004.1336446"},{"key":"ref121","doi-asserted-by":"publisher","DOI":"10.1109\/7.249123"},{"key":"ref122","doi-asserted-by":"publisher","DOI":"10.1016\/j.ins.2012.09.017"},{"key":"ref123","doi-asserted-by":"publisher","DOI":"10.1109\/TAES.2010.5545180"},{"key":"ref85","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2007.895311"},{"key":"ref86","doi-asserted-by":"publisher","DOI":"10.1016\/j.sigpro.2008.06.019"},{"key":"ref87","doi-asserted-by":"publisher","DOI":"10.1109\/IVS.2007.4290268"},{"key":"ref88","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2010.2098029"}],"container-title":["IEEE Transactions on Intelligent Transportation Systems"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx7\/6979\/8055014\/07857073.pdf?arnumber=7857073","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2022,1,12]],"date-time":"2022-01-12T16:04:33Z","timestamp":1642003473000},"score":1,"resource":{"primary":{"URL":"http:\/\/ieeexplore.ieee.org\/document\/7857073\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2017,10]]},"references-count":191,"journal-issue":{"issue":"10"},"URL":"https:\/\/doi.org\/10.1109\/tits.2017.2658662","relation":{},"ISSN":["1524-9050","1558-0016"],"issn-type":[{"value":"1524-9050","type":"print"},{"value":"1558-0016","type":"electronic"}],"subject":[],"published":{"date-parts":[[2017,10]]}}}