@article{SI Junshu:64, author = {SI Junshu, ZHU Wenxing*, SHA Yonghe}, title = {A comprehensive method for traffic lights detection in complex background}, publisher = {Journal of Shandong University(Engineering Science)}, year = {2014}, journal = {Journal of Shandong University(Engineering Science)}, volume = {44}, number = {2}, eid = {64}, numpages = {4}, pages = {64}, keywords = {traffic light recognition; self-localization; brightness value division; K-means clustering; foreground object histogram}, url = {http://gxbwk.njournal.sdu.edu.cn/EN/abstract/article_1555.shtml}, doi = {10.6040/j.issn.1672-3961.0.2013.319} }