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T.-H. Hwang, I.-H. Joo and S.-I. Cho, “Detection of Traffic Lights for Vision-based Car Navigation System,” PSIVT 2006: Pacific Rim Symposium on Advances in Image and Video Technology, LNCS 4319, Berlin: Springer-Verlag, 2006, pp. 682-691. doi:10.1109/40.285222

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