Hsieh, Wei-ChungWei-ChungHsiehFu, Li-ChenLi-ChenFuHuang, Shih-ShinhShih-ShinhHuangLI-CHEN FU2020-05-042020-05-042003https://scholars.lib.ntu.edu.tw/handle/123456789/489129Vision based obstacle warning system for on-road driving.conference paper10.1109/IROS.2003.1249725https://doi.org/10.1109/IROS.2003.1249725