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    Forward Vehicle Detection Algorithm Using Column Detection and Bird`s-Eye View Mapping Based on Stereo Vision
    Chung Hee Lee , Young Chul Lim , Soon Kwon , Jong Hwan Kim KIPS Transactions on Software and Data Engineering, Vol. 18, No. 5, pp. 255-264, May. 2011
    10.3745/KIPSTB.2011.18.5.255