@article{ref1,
title="Towards active machine-vision-based driver assistance for urban areas",
journal="International journal of computer vision",
year="2002",
author="Heimes, Frank and Nagel, Hans-hellmut",
volume="50",
number="1",
pages="5-34",
abstract="<p>[Abstract unavailable]</p>",
language="",
issn="0920-5691",
doi="",
url="http://dx.doi.org/"
}