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A computer vision-based lane detection technique using grad..:

Noman, Md. Abdullah Al ; LI, Zhai ; Almukhtar, Firas Husham...
International Journal of Electrical and Computer Engineering (IJECE).  13 (2023)  1 - p. 347 , 2023
Link: https://doi.org/10.11591/ijece.v13i1.pp347-357