Author,Title,Journal,ISSN,Publisher,Date,Volume,Number,Page,URL,URL(DOI) Yasuo Shinohara and Hiroyuki Mizutani and Naoaki Kodaira and Hiroaki Nakai and Tomohisa Suzuki,A Binarization Algorithm Based on Shade-Planes for Road Marking Recognition,,,Springer Berlin Heidelberg,2009-01-01,,,,https://cir.nii.ac.jp/crid/1874242817355207168,https://doi.org/10.1007/978-3-642-02230-2_6