6Erez Dagan,Ofer Mano,Stein Gideon P,et al.Forward Collision Warning with a Single Camera[C].2004 IEEE Intelligent Vehicles Symposium,Parma,Italy,2004:37-42.
7Bertozzi M,Broggi A.GOLD.A Parallel Real-time Stereo Vision System for Generic Obstacle and Lane Detection[J].IEEE Transactions on Image Processing,1998,7(1):62-81.