Jill D. Crisman, Charles E. Thorpe. SCARF: a color vision system that tracks roads and intersections. IEEE Transactions on Robotics, 9(1):49-58, 1993. [doi]
@article{CrismanT93,
title = {SCARF: a color vision system that tracks roads and intersections},
author = {Jill D. Crisman and Charles E. Thorpe},
year = {1993},
doi = {10.1109/70.210794},
url = {http://dx.doi.org/10.1109/70.210794},
researchr = {https://researchr.org/publication/CrismanT93},
cites = {0},
citedby = {0},
journal = {IEEE Transactions on Robotics},
volume = {9},
number = {1},
pages = {49-58},
}