Bai, Li, Wang, Yan and Fairhurst, Michael (2008), "An extended hyperbola model for road tracking for video-based personal navigation", Know.-Based Syst., 21, 3: 265--272.  Webpage Link
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Bai, Li, Wang, Yan and Fairhurst, Michael (2008), "An extended hyperbola model for road tracking for video-based personal navigation", Know.-Based Syst., 21, 3: 265--272. Webpage Link
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