1. Z. Chen, S.T. Birchfield, Qualitative vision-based mobile robot navigation, in: Proc. of the IEEE International Conference on Robotics and Automation (ICRA), Orlando, Florida, May 2006.
2. Vision-based intelligent vehicles: state of the art and perspectives;Bertozzi;Robotics and Autonomous Systems,2000
3. D.H. Shin, S. Singh, Path generation for robot vehicles using composite clothoid segments, The Robotics Institute, Internal Report CMU-RI-TR-90-31, Carnegie-Mellon University, 1990.
4. Vision for mobile robot navigation: a survey;DeSouza;IEEE Transactions on Pattern Analysis and Machine Intelligence,2002
5. Sensor fusion in certainty grids for mobile robots;Moravec;Artificial Intelligence Magazine,1988