1. Gonzales, R.C., Woods, R.E.: Digital Image Processing, 3rd edn. (2002)
2. Wang, Y., et al.: Lane detection and tracking using B-Snake. Image and Vision Computing 22, 269–280 (2004)
3. Apostoloff, N., Zelinsky, A.: Robust vision based lane tracking using multiple cues and particle filtering. In: Intelligent Vehicles Symposium. Proceedings, pp. 558–563. IEEE, Los Alamitos (2003)
4. Enkelmann, W., et al.: ROMA - a system for model-based analysis of road markings. In: Proceedings of Intelligent Vehicles ’95 Symposium, pp. 356–360 (1995)
5. McCall, J.C., Trivedi, M.M.: Video-based lane estimation and tracking for driver assistance: survey, system, and evaluation. IEEE Transactions on Intelligent Transportation Systems 7, 20–37 (2006)