@ARTICLE{7114275, 
author={Y. Wang and X. Lu and Z. Ling and Y. Yang and Z. Zhang and K. Wang}, 
journal={IEEE Transactions on Intelligent Transportation Systems}, 
title={A Method to Calibrate Vehicle-Mounted Cameras Under Urban Traffic Scenes}, 
year={2015}, 
volume={16}, 
number={6}, 
pages={3270-3279}, 
keywords={calibration;cameras;image processing;intelligent transportation systems;pattern clustering;random processes;road traffic;Manhattan directions;RANSAC-like methods;clusters;driving lines;driving signs;lines estimation;quasiManhattan world scenes;random sample consensus;recalibration;refocusing;road driving;urban traffic scenes;vanishing point estimation accuracy;vehicle-mounted camera calibration;Accuracy;Bayes methods;Calibration;Cameras;Image segmentation;Mathematical model;Parameter estimation;Urban areas;Camera calibration;Manhattan direction;urban traffic scene;vanishing point}, 
doi={10.1109/TITS.2015.2430617}, 
ISSN={1524-9050}, 
month={Dec},}