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An accurate performance was recently reported by Mathias  when using a HOG histogram and multi-layer SVM technique based on the distribution of lightness, yet the learning and testing require too much time for real-time processing. A recognition method using cross correlation was also proposed by Barns , yet the real-time performance is affected by distortion of the side images. Abstract For future autonomous cars, it is necessary to recognize various surrounding environments such asdoi:10.33851/jmis.2019.6.4.185 fatcat:rxo7gefmrzekdcpvudo4ey6cfu