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\bibitem{canny1986computational}
J.~Canny, ``A computational approach to edge detection,'' \emph{IEEE
  Transactions on pattern analysis and machine intelligence}, no.~6, pp.
  679--698, 1986.

\bibitem{houghtransform}
J.~Illingworth and J.~Kittler, ``A survey of the hough transform,''
  \emph{Computer vision, graphics, and image processing}, vol.~44, no.~1, pp.
  87--116, 1988.

\bibitem{kluge1995deformable}
K.~Kluge and S.~Lakshmanan, ``A deformable-template approach to lane
  detection,'' in \emph{Proceedings of the Intelligent Vehicles' 95.
  Symposium}.\hskip 1em plus 0.5em minus 0.4em\relax IEEE, 1995, pp. 54--59.

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