Rui Zhang Eunsoo Park Yongji Yun Hakil Kim Hyoungrae Kim Robust Moving Object Detection Using Beam Pattern for Night-Time Driver Assistance. 1-5 2012 VTC Spring https://doi.org/10.1109/VETECS.2012.6240334 conf/vtc/2012s db/conf/vtc/vtc2012s.html#ZhangPYKK12