Author,Title,Journal,ISSN,Publisher,Date,Volume,Number,Page,URL,URL(DOI) Jun Miura and Yoshiaki Shirai and Hotaka Takizawa and Yoshinori Kuno,Recognition of intersection scene by attentive observation for a mobile robot,Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS '96,,IEEE,2002-12-24,3,,1648-1654,https://cir.nii.ac.jp/crid/1872835442650305024,https://doi.org/10.1109/iros.1996.569033