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Developing on-board automotive driver assistance systems aiming to alert drivers about driving environments, and possible collision with other vehicles has attracted a lot of attention lately. In these systems, robust and reliable vehicle detection is a critical step. This paper presents a review of recent vision-based on-road vehicle detection systems. Our focus is on systems where the camera is mounted on the vehicle rather than being fixed such as in traffic/driveway monitoring systems.doi:10.1109/tpami.2006.104 pmid:16640257 fatcat:c7zma67hgnc3vjtvqov3cuoy5u