[1] Nieto M, Salgado L. Real-time vanishing point estimation in road sequences using adaptive steerable filter banks. In: Proceedings of the 9th International Conference on Advanced Concepts for Intelligent Vision Systems. Berlin, Heidelberg: Springer-Verlag, 2007. 840-848[2] Franke U, Loose H, Knoppel C. Lane recognition on country roads. In: Proceedings of the 2007 IEEE Intelligent Vehicles Symposium. Istanbul, Turkey: IEEE, 2007. 99-104[3] 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, 2006, 7(1): 20-37[4] Kuhnl T, Kummert F, Fritsch J. Monocular road segmentation using slow feature analysis. In: Proceedings of the 2011 IEEE Intelligent Vehicles Symposium. Baden-Baden, Germany: IEEE, 2011. 800-806[5] Sotelo M A, Rodriguez F J, Magdalena L. Virtuous: vision-based road transportation for unmanned operation on urban-like scenarios. IEEE Transactions on Intelligent Transportation Systems, 2004, 5(2): 69-83[6] Thrun S, Montemerlo M, Dahlkamp H. Stanley: the robot that won the DARPA grand challenge. Journal of Field Robotics, 2006, 23(9): 661-692[7] Lookingbill A, Rogers J, Lieb D, Curry J, Thrun S. Reverse optical flow for self-supervised adaptive autonomous robot navigation. International Journal of Computer Vision, 2007, 74(3): 287-302[8] Darms M, Komar M, Lueke S. Map based road boundary estimation. In: Proceedings of the 2010 IEEE Intelligent Vehicles Symposium. San Diego, CA: IEEE, 2010. 609-614[9] Gupta A, Efros A A, Hebert M. Map based road boundary estimation. In: ECCV. 2010[10] Akbarzadeh A, Frahm J M, Mordohai P, Clipp B, Engels C, Gallup D, Merrell P, Phelps M, Sinha S, Talton B, Wang L, Yang Q, Stewenius H, Yang R, Welch G, Towles H, Nister D, Pollefeys M. Towards urban 3D reconstruction from video. In: Proceedings of the 3rd International Symposium on 3D Data Processing, Visualization, and Transmission. Chapel Hill, NC: IEEE, 2006. 1-8[11] Gallup D, Frahm J M, Pollefeys M. Piecewise planar and non-planar stereo for urban scene reconstruction. In: Proceedings of the 2010 IEEE Conference on Computer Vision and Pattern Recognition (CVPR). San Francisco, CA: IEEE, 2010. 1418-1425[12] Kubota S, Nakano T, Okamoto Y. A global optimization algorithm for real-time on-board stereo obstacle detection systems. In: Proceedings of the 2007 IEEE Intelligent Vehicles Symposium. Istanbul, Turkey: IEEE, 2007. 7-12[13] Seki A, Okutomi M. Robust obstacle detection in general road environment based on road extraction and pose estimation. In: Proceedings of the 2006 IEEE Intelligent Vehicles Symposium. Tokyo, Japan: IEEE, 2006. 437-444[14] Guo C, Mita S, McAllester D. Robust road detection and tracking in challenging scenarios based on Markov random fields with unsupervised learning. IEEE Transactions on Intelligent Transportation Systems, 2012, 13(3): 1338-1354[15] Hartley R, Zisserman A. Multiple View Geometry in Computer Vision. Cambridge, UK: Cambridge University Press, 2003[16] Harris C, Stephens M. A combined corner and edge detector. In: Proceedings of the 4th Alvey Vision Conference. Manchester, UK: Organising Committee AVC, 1988. 147-151[17] Gill P E, Murray W. Algorithms for the solution of the nonlinear least-squares problem. SIAM Journal on Numerical Analysis, 1978, 15(5): 977-992[18] Rabiner L R. A tutorial on hidden Markov models and selected applications in speech recognition.[19] D. Scharstei and R. Szeliski, A taxonomy and evaluation of dense two-frame stereo correspondence algorithms, in Int. J. of Compution Vision, 2002, 47(1/2/3): 7-42.