@Article{	  ieee.ip.gold,
  author	= "Massimo Bertozzi AND Alberto Broggi",
  title		= "{GOLD: a Parallel Real-Time Stereo Vision System for
		  Generic Obstacle and Lane Detection}",
  journal	= "{IEEE Trans.~on Image Processing}",
  eprint	= "doi:10.1109/83.650851",
  year		= 1998,
  month		= jan,
  number	= 1,
  volume	= 7,
  publisher	= "IEEE Press",
  address	= "Piscataway, USA",
  pages		= "62--81",
  if		= "2.185"
}