Ye, Yang Yang; Hao, Xiao Li; Chen, Hou Jin: 'Lane detection method based on lane structural analysis and CNNs', IET Intelligent Transport Systems, 2018, 12, (6), p. 513-520, DOI: 10.1049/iet-its.2017.0143
IET Digital Library, https://digital-library.theiet.org/;jsessionid=30n65d9s9rfhp.x-iet-live-01content/journals/10.1049/iet-its.2017.0143