Journal papers
Yuichi Saito, Yusaku Ichinose, Toshihisa Sato, and Makoto Itoh, Effect of Driver-Initiated Driver Control during Scheduled Transitions with Recommendations on Reaction Times and Vehicle Control Performance in Conditional Driving Automation, Transportation Research Interdisciplinary Perspectives, 33, 101593, 2025 https://doi.org/10.1016/j.trip.2025.101593 [Open access] [SSRN-preprint] [Tsukuba repository]
Ayato Itoh, Yuichi Saito, Hiroaki Yano, Takuma Yabe, and Makoto Itoh, How Pedestrians Perceive the Risk Against an Oncoming Autonomous Vehicle? Visualization of the Pedestrian's Risk Field, Transportation Research Record, 2025 (in press)
髙木 裕太, 齊藤 裕一, 伊藤 誠, 自動速度制御装置による制限速度遵守が対自転車の出会い頭事故発生の低減に与える効果, 日本機械学会論文集, 91 巻, 945 号, p. 24-00201, 2025 https://doi.org/10.1299/transjsme.24-00201 [Open access] [Tsukuba repository]
Fuma Kochi, Yuichi Saito, Nobuyuki Uchida, Makoto Itoh, Task difficulty, risk feeling, and safety margin in the determination of driver behavior to prepare for traffic conflicts, Accident Analysis and Prevention, Vol. 192, 107284, 2023 https://doi.org/10.1016/j.aap.2023.107284 [Tsukuba repository, Download is available from 2026/9/11] [SSRN-preprint]
Ichinose Yusaku, Huiping Zhou, Yuichi Saito, Makoto Itoh, Influence of information about minimal risk maneuvers on driver behavior during conditional driving automation, International Journal of Automotive Engineering, Vol. 13, No. 3, 122-131, 2022 https://doi.org/10.20485/jsaeijae.13.3_122 [Open access]
Yuichi Saito, Yuta Watahiki, Chokiu Leung, Huiping Zhou, Makoto Itoh, Effect of Verbal Messages with Reminders to Communicate Driving Situations to Alter Driver Behavior in Conditional Driving Automation, Transportation Research Part F: Traffic Psychology and Behaviour, Volume 85, 69-82, 2022 https://doi.org/10.1016/j.trf.2022.01.003 [Tsukuba repository]
Yuichi Saito, Makoto Itoh, Toshiyuki Inagaki, Bringing a Vehicle to a Controlled Stop: Effectiveness of a Dual Control Scheme for Identifying Driver Drowsiness and Preventing Lane Departures under Partial Driving Automation Requiring Hands-on-Wheel, IEEE Transactions on Human-Machine Systems, Vol. 52, Issue 1, pp. 74-86, 2022 https://doi.org/10.1109/THMS.2021.3123171 [Tsukuba repository]
Yuichi Saito, Ryoma Yoshimi, Shinichi Kume, Xun Shen, Akito Yamasaki, Ryosuke Matsumi, Takuma Ito, Toshiki Kinoshita, Shintaro Inoue, Tsukasa Shimizu, Masao Nagai, Hideo Inoue, Pongsathorn Raksincharoensak, Effectiveness of a Driver Assistance System With Deceleration Control and Brake Hold Functions in Stop Sign Intersection Scenarios, IEEE Transactions on Intelligent Transportation Systems, Vol. 23, No. 7, pp. 8747-8758, 2022, https://doi.org/10.1109/TITS.2021.3085847 [Tsukuba repository]
Yuichi Saito, Fumio Sugaya, Shintaro Inoue, Pongsathorn Raksincharoensak, Hideo Inoue, A Context-Aware Driver Model for Determining Recommended Speed in Blind Intersection Situations, Accident Analysis and Prevention, Vol. 163, 106447, 2021, https://doi.org/10.1016/j.aap.2021.106447 [Tsukuba repository]
Takuma Ito, Ryosuke Matsumi, Yuichi Saito, Akito Yamasaki, Shintaro Inoue, Tsukasa Shimizu, Masao Nagai, Hideo Inoue, Minoru Kamata, Comparison of Proactive Braking Intervention System Acceptability via Field Operation Tests in Different Regions, International Journal of Intelligent Transportation Systems Research, 26 pages, 2021, https://doi.org/10.1007/s13177-021-00278-x [Open access]
Yuichi Saito, Fuma Kochi, Makoto Itoh, Takesato Fushima, Takashi Sugano, and Yasunori Yamamoto, Influence of Road Environmental Elements on Pedestrian and Cyclist Road Crossing Behavior. SICE Journal of Control, Measurement, and System Integration, Vol. 14, No.2, pp. 50-58, 2021, https://doi.org/10.1080/18824889.2021.1894900 [Open access]
Yuichi Saito, Ryoma Yoshimi, Shinichi Kume, Masahiro Imai, Akito Yamasaki, Takuma Ito, Shintaro Inoue, Tsukasa Shimizu, Masao Nagai, Hideo Inoue, Pongsathorn Raksincharoensak, Effects of a Driver Assistance System with Foresighted Deceleration Control on the Driving Performance of Elderly and Younger Drivers, Transportation Research Part F: Traffic Psychology and Behaviour, Volume 77, pp. 221-235, 2021, https://doi.org/10.1016/j.trf.2020.12.017 [Tsukuba repository]
Takuma Ito, Masatsugu Soya, Kyoichi Tohriyama, Yuichi Saito, Tsukasa Shimizu, Akito Yamasaki, Masao Nagai, Hideo Inoue, Minoru Kamata, Evaluation of Acceptability of Adaptive Proactive Braking Intervention System Based on Risk Map for Elderly Drivers, International Journal of Automotive Engineering, Vol.11, No. 2, pp. 40-48, 2020, https://doi.org/10.20485/jsaeijae.11.2_40 [Open access]
井上慎太郎, 齊藤裕一, 山崎彬人, 木下俊貴, 佐藤文哉, 伊藤太久磨, 清水司, 齋藤創, 内田信行, 井上秀雄, ポンサトーンラクシンチャラーンサク, 人間と機械の分担率に基づくリスク回避のための協調型操舵支援システム―緩ブレーキ支援と連係する駐車車両回避場面の高齢ドライバ実験的検討―, 自動車技術会論文集, Vol. 50, No. 6, pp.1646-1652, 2019, https://doi.org/10.11351/jsaeronbun.50.1646 [Open access]
Yuichi Saito, Pongsathorn Raksincharoensak, Effect of Risk-Predictive Haptic Guidance in One-Pedal Driving Mode, Cognition, Technology & Work, 21 (4), 671-684, 2019, https://doi.org/10.1007/s10111-019-00558-3 [Tsukuba Repository]
松實良祐, 大屋魁, 伊藤太久磨, 齊藤裕一, 美尾昌宏, 橋本宣彦, 永井正夫, 井上秀雄, 鎌田実, 高齢ドライバの生活道路での予見的制動介入に対する受容性に関する調査, 自動車技術会論文集, Vol. 50, No. 3-4, pp. 911-917, 2019, https://doi.org/10.11351/jsaeronbun.50.911 [Open access]
Umar Zakir Abdul Hamid, Yuichi Saito, Hairi Zamzuri, Mohd Azizi Abdul Rahman, Pongsathorn Raksincharoensak, A Review on Threat Assessment, Path Planning and Path Tracking Strategies for Collision Avoidance Systems of Autonomous Vehicles, International Journal of Vehicle Autonomous Systems, Vol.14, No.2, pp.134-169, 2018, https://doi.org/10.1504/IJVAS.2018.096154
Umar Zakir Abdul Hamid, M. Ariff, Hairi Zamzuri, Yuichi Saito, Muhammad Aizzat Zakaria, Mohd Azizi Abdul Rahman, Pongsathorn Raksincharoensak, Piecewise Trajectory Replanner for Highway Collision Avoidance Systems with Safe-Distance Based Threat Assessment Strategy and Nonlinear Model Predictive Control, Journal of Intelligent and Robotic Systems, Vol.90, Issue 3–4, pp.363–385, 2018, https://doi.org/10.1007/s10846-017-0665-8
Umar Zakir Abdul Hamid, Hairi Zamzuri, Tsuyoshi Yamada, Mohd Azizi Abdul Rahman, Yuichi Saito, Pongsathorn Raksincharoensak, Modular Design of Artificial Potential Field and Nonlinear Model Predictive Control for a Vehicle Collision Avoidance System with Move Blocking Strategy, Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering, Vol.232, Issue 10, 21 pages, 2018, https://doi.org/10.1177/0954407017729057
Yuichi Saito, Pongsathorn Raksincharoensak, Shared Control in Risk Predictive Braking Maneuver for Preventing Collisions with Pedestrians, IEEE Transactions on Intelligent Vehicles, Vol.1, No.4, pp.314-324, 2016, https://doi.org/10.1109/TIV.2017.2700210
Yuichi Saito, Makoto Itoh, Toshiyuki Inagaki, Driver Assistance System with a Dual Control Scheme: Effectiveness of Identifying Driver Drowsiness and Preventing Lane Departure Accidents, IEEE Transactions on Human-Machine Systems, Vol.46, No.5, pp.660-671, 2016, https://doi.org/10.1109/THMS.2016.2549032 [Tsukuba Repository]
齊藤裕一, 三本喬之, ポンサトーン・ラクシンチャラーンサク, 潜在リスク予測ドライバモデルに基づくブレーキ制御支援システムの設計と有効性評価, 自動車技術会論文集, Vol.47, No.6, pp.1417-1423, 2016, https://doi.org/10.11351/jsaeronbun.47.1417 [Open access]
齊藤裕一, 伊藤誠, 稲垣敏之, 双対制御論的運転支援システム −車両安全確保とドライバ状態推定の機能と特性−, 計測自動制御学会論文集, Vol.50, No.6, pp.461-470, 2014, https://doi.org/10.9746/sicetr.50.461 [Open access]
齊藤裕一, 佐藤宏明, 橋本尚久, 加藤晋, ドライバの減速意図を後続車へ提示するシステムの提案と効果検証, 自動車技術会論文集, Vol.44, No.3, pp.925-930, 2013, https://doi.org/10.11351/jsaeronbun.44.925 [Open access]
Review papers
齊藤裕一，自動車運転における人と機械 のインタラクションのデザイン，自動車技術, Vol.79, No.2, pp.54-60, 2025
齊藤裕一，ポンサトーン・ラクシンチャラーンサク,ヒヤリ経験のデータで駆動する推奨速度ドライバモデルの開発，自動車技術, Vol.77, No.10, pp.32-38, 2023
菅野 崇, 黒田 康秀, 伏間 丈悟, 山本 康典, 齊藤 裕一, 走行環境の特徴を利用した危険予測技術, マツダ技報, No.38, 98-104, 2021, [Open access]
齊藤裕一，人を含めた系の安全性向上のためのシェアードコントロール，リスク工学研究，Vol. 16, pp. 3-8, 2020-03, [Open access]
齊藤裕一, 自動車運転の安全性と信頼性の向上のためのシェアードコントロール, 信頼性, Vol. 41, 3, pp.183-190, 2019-05, [Open access]
ポンサトーン・ラクシンチャラーンサク, 齊藤裕一, 運転知能に基づく危険予測ブレーキ, トライボロジスト, Vol. 62, No. 1, 10-17, 2017
齊藤裕一, 人機能との協調 -先進運転者支援システム-, 情報処理, Vol. 58, No. 1, 48-51, 2016
齊藤裕一, 人と協調する運転支援技術, 日本信頼性学会誌, Vol. 37, No. 5, 242-249, 2015 [Open access]
Peer-reviewed internatinal conference papers
Yuichi Saito, Shohei Shimotori, Hideo Inoue, A Mathematical Framework for Evaluating Behavioral Safety of Automated Vehicles at Blind Intersection Situations, 2025 IEEE International Automated Vehicle Validation Conference, 8 pages, 2025 (Accepted)
Frank Flemisch, Marcel Usai, Nils Mandischer, Marcel Caspar Attila Baltzer, Yuichi Saito, Marie-Pierre Pacaux-Lemoine, Should, Want, Can, Will, Do and Be Accountable: Human-Machine/Human-AI Patterns For Integrating the Real World, Virtual Models and Society by Shared Control and Cooperative Human-Machine/Human-AI Systems, Proceedings of the IEEE International Conference on Systems, Man, and Cybernetics, pp. 924-929, 2024, doi: 10.1109/SMC54092.2024.10831586
Ayato Itoh, Yuichi Saito, Hiroaki Yano, Takuma Yabe, Makoto Itoh, HOW PEDESTRIANS PERCEIVE THE RISK AGAINST AN ONCOMING AUTONOMOUS VEHICLE? VISUALIZATION OF THE PEDESTRIAN'S RISK FIELD, Transportation Research Board (TRB) Annual Meeting, 15 pages, 2024
Yutaro Doi, Yuichi Saito, Makoto Itoh, Understanding Cyclist Behavior at Blind Intersection Situations By Using Drive Recorder Data, Proceedings of the 6th International Symposium on Future Active Safety Technology towards Zero-Traffic Accident, pp. 1-6, Kanazawa, November 8-11, 2023
Yuta Takagi, Yuichi Saito, Makoto Itoh, Effect of Speed Limit Compliance on Reducing Vehicle-Cyclist Collisions, Proceedings of the 6th International Symposium on Future Active Safety Technology towards Zero-Traffic Accident, pp. 1-5, Kanazawa, November 8-11, 2023
Yuichi Saito, Makoto Itoh, Toshiyuki Inagaki, Bringing a Vehicle to a Controlled Stop: Effectiveness of a Dual-Control Scheme for Identifying Driver Drowsiness and Executing Safety Control under Hands-off Partial Driving Automation, The 22nd World Congress of the International Federation of Automatic Control, 6 pages, Yokohama, 2023.
Yichen Dong, Sakura Akahoshi, Jieun Lee, Yuchi Saito, and Makoto Itoh, Modeling User Requirements for Driver-Vehicle Interaction System in China, 13th International Conference on Applied Human Factors and Ergonomics (AHFE 2022), Ergonomics in Design, Vol. 47, 1–7, 2022.
Yuichi Saito, Hussam Muslim, Makoto Itoh, Design of Haptic Protection with an Adaptive Level of Authority Based on Risk Indicators under Hands-on Partial Driving Automation, Proceedings of the IEEE International Conference on Systems, Man, and Cybernetics, pp.1613-1618, October 17-20, 2021, https://doi.org/10.1109/SMC52423.2021.9658933 [Tsukuba repository]
Yusaku Ichinose, Huiping Zhou, Yuichi Saito, Makoto Itoh, To Explore Driver’s Behavioral Adaptations in Providing Information about Minimal Risk Maneuver Under Conditional Driving Automation, Proceedings of the 6th International Symposium on Future Active Safety Technology towards Zero-Traffic Accident, 20219057, 6 pages, 2021.
Yuichi Saito, Ryoma Yoshimi, Kume Shinichi, Xun Shen, Akito Yamasaki, Ryosuke Matsumi, Takuma Ito, Toshiki Kinoshita, Shintaro Inoue, Tsukasa Shimizu, Masao Nagai, Hideo Inoue, Pongsathorn Raksincharoensak, Driver Assistance System With a Foresighted Deceleration Control Function in Non-Signalized Intersection Scenarios, Proceedings of the 6th International Symposium on Future Active Safety Technology towards Zero-Traffic Accident, 20210922, 2 pages, 2021.
Yuichi Saito, Fumio Sugaya, Shintaro Inoue, Pongsathorn Raksincharoensak, Hideo Inoue, Context-Sensitive Driver Model for Determining Recommended Speed in Intersection Driving Scenarios, Proceedings of the 6th International Symposium on Future Active Safety Technology towards Zero-Traffic Accident, 20219046, 6 pages, 2021.
Fuma Kochi, Yuichi Saito, Makoto Itoh, Takesato Fushima, Takashi Sugano, and Yasunori Yamamoto, Modeling and Prediction of Pedestrians’ and Cyclists’ Road Crossing Behavior Using Near-Miss Incident Data, Proceedings of the SICE Annual Conference, September 23-26, Thailand, pp. 1770-1775, 2020.
Mitsuki Fujino, Jieun Lee, Toshiaki Hirano, Yuichi Saito, Makato Itoh, Comparison of SAGAT and SPAM For Seeking Effective Way to Evaluate Situation Awareness and Workload During Air Traffic Control Task, Proceedings of the Human Factors and Ergonomics Society International Annual Meeting, October 5-9, 6 pages, 2020, https://doi.org/10.1177/1071181320641442
Frank O. Flemisch, Marie-Pierre Pacaux-Lemoine, Frederic Vanderhaegen, Makoto Itoh, Yuichi Saito, Nicolas Herzberger, Joscha Wasser, Emmanuelle Grislin, Marcel Baltzer, Conflicts in Human-Machine Systems as an Intersection of Bio- and Technosphere: Cooperation and Interaction Patterns for Human and Machine Interference and Conflict Resolution, 2020 IEEE International Conference on Human-Machine Systems (ICHMS), Rome, Italy, pp. 1-6, 2020, https://doi.org/10.1109/ICHMS49158.2020.9209517 [Access]
Yuichi Saito, Makoto Itoh, Toshiyuki Inagaki, Effects of Driver Drowsiness on Driving Performance in the Context of Partial Driving Automation Requiring Hands-on-Wheel, Proceedings of the 2020 IEEE International Conference on Human-Machine Systems (ICHMS), Rome, Italy, pp. 1-4, 2020, https://doi.org/10.1109/ICHMS49158.2020.9209459
Hideo Inoue, Mohanad El-Haji, Thomas Freudenmann, Haipeng Zhang, Pongsathorn Raksincharoensak, and Yuichi Saito, Validation Methodology to Establish Safe Autonomous Driving Algorithms with a High Driver Acceptance Using a Virtual Environment, Proceedings of the 5th International Symposium on Future Active Safety Technology towards Zero-Traffic Accident, Blacksburg, VA, USA, September 9-11, 2019
Yucihi Saito, Pongsathorn Raksincharoensak, Hideo Inoue, Mohanad El-Haji, Thomas Freudenmann, Context-Sensitive Hazard Anticipation Based on Driver Behavior Analysis and Cause-and-Effect Chain Study, Proceedings of the 14th International Symposium on Advanced Vehicle Control, 6 pages, Beijing, China, July 16-20, 2018
Umar Zakir Abdul Hamid, Hairi Zamzuri, Mohd Azizi Abdul Rahman, Yuichi Saito, Pongsathorn Raksincharoensak, Collision Avoidance System using Artificial Potential Field and Nonlinear Model Predictive Control: A Case Study of Intersection Collisions with Sudden Appearing Moving Vehicles, Proceedings of the 25th International Symposium on Dynamics of Vehicles on Roads and Tracks, No.367, 6 pages, Queensland, Australia, August 14-18, 2017
Yuichi Saito, Pongsathorn Raksincharoensak, Risk Predictive Haptic Guidance: Driver Assistance with One-Pedal Speed Control Interface, Proceedings of the IEEE International Conference on Systems, Man, and Cybernetics, pp.111-116, Banff, Canada, October 5-8, 2017, https://doi.org/10.1109/SMC.2017.8122587
Yuichi Saito, Keisuke Shimono, Shintaro Inoue, Hideo Inoue, Pongsathorn Raksincharoensak, Enhancing Risk Predictive Driving Performance of Elderly Drivers via Adaptive Shared Control Interface, Proceedings of the 4th International Symposium on Future Active Safety Technology towards Zero-Traffic Accident, 6 pages, Nara, Japan, September 18-21, 2017
Kei Sato, Sshigeyoshi Tsutsumi, Yuichi Saito, The Confirmation the Safety Behavior of Expert Drivers and Elderly Drivers When Passing Through Non Signalized Intersections, Proceedings of the 4th International Symposium on Future Active Safety Technology towards Zero-Traffic Accident, 6 pages, Nara, Japan, September 18-21, 2017
Yuichi Saito, Pongsathorn Raksincharoensak, A Shared Control in Risk Predictive Braking Manoeuvre for Preventing Collision with Pedestrian, Proceedings of the IEEE International Conference on Systems, Man, and Cybernetics, 6 pages, Budapest, Hungary, October 9-12, 2016, https://doi.org/10.1109/SMC.2016.7844320
Yuichi Saito, Takayuki Mitsumoto, Pongsathorn Raksincharoensak, Effectiveness of a Risk Predictive Shared Steering Control Based on Potential Risk Prediction of Collision with Vulnerable Road Users, Proceedings of the 13th IFAC Symposium on Analysis, Design, and Evaluation of Human-Machine Systems, IFAC-Papers OnLine, Vol.49, No.19, pp.84-89, Kyoto, Japan, Aug. 30 - Sep. 2, 2016, https://doi.org/10.1016/j.ifacol.2016.10.466
Yuichi Saito, Pongsathorn Raksincharoensak, Risk Predictive Shared Deceleration Control: Its Functionality and Effectiveness of an Early Intervention Support, Proceedings of the IEEE Intelligent Vehicles Symposium (IV), Workshop on Human Factor of Intelligent Vehicles, pp.49-54, Gothenburg, Sweden, June 19-21, 2016, https://doi.org/10.1109/IVS.2016.7535363
Yuichi Saito, Makoto Itoh, Toshiyuki Inagaki, Effectiveness of a Dual Control Theoretic Driver Assistance for Attaining Safety and Identifying Driver State, Proceedings of the Human Factors and Ergonomics Society International Annual Meeting, pp.1573-1577, California, USA, October 26–30, 2015, https://doi.org/10.1177/1541931215591340
Pongsathorn Raksincharoensak, Kou Iwano, Yuichi Saito, Hiroshi Mouri, Masao Nagai, Human-Machine Shared Driving Characteristics of Autonomous Driving Intelligence System in Collision Avoidance Manoeuvre, Proceedings of the 3rd International Symposium on Future Active Safety Technology towards Zero-Traffic Accident, pp.531-536, Gothenburg, Sweden, September 9-11, 2015
Yuichi Saito, Makoto Itoh, Toshiyuki Inagaki, Detection of Drowsy Driving via Dual Control Theoretic Driver Assistance, Proceedings of the 3rd International Symposium on Future Active Safety Technology towards Zero-Traffic Accident, pp.223-228, Gothenburg, Sweden, September 9-11, 2015
Yuichi Saito, Makoto Itoh, Toshiyuki Inagaki, Dual Control Theoretic Driver Assistance: Dynamic Characteristics of Steering Torque Control based on Linear Quadratic Regulator, Proceedings of the IEEE International Conference on Systems, Man, and Cybernetics, pp.1753-1758, San Diego, USA, October 5-8, 2014, https://doi.org/10.1109/SMC.2014.6974168
Yuichi Saito, Shin Kato, Makoto Itoh, Toshiyuki Inagaki, Influence of Deceleration Intention Indicating System of Forward Vehicle on Driver Behavior, Human Interface and the Management of Information. Information and Interaction for Health, Safety, Mobility and Complex Environments, Lecture Notes in Computer Science, Vol.8017, pp.548-557, Las Vegas, NV, USA, July 21-26, 2013, https://doi.org/10.1007/978-3-642-39215-3_63
Naohisa Hashimoto, Sshin Kato, Hiroaki Sato, Yuichi Saito, Sadayuki Tsugawa, An Experimental Study on Appropriate Distance for Driver on Platooning: Relationship Driver’s Feature, Distance and Benefit, Proceedings of the 19th ITS World Congress, AP-00299, 8 pages, Vienna, Austria, October 22-26, 2012
Hiroaki Sato, Yuichi Saito, Naohisa Hashimoto, Shin Kato, Sadayuki Tsugawa, Influence of Acceleration-and-Deceleration Information to Following Vehicles, Proceedings of the 19th ITS World Congress, AP-00340, 7 pages, Vienna, Austria, October 22-26, 2012
Yuichi Saito, Naohisa Hashimoto, Sadayuki Tsugawa, Shin Kato, Development of Deceleration Intention Indicating System of Forward Vehicle: Effect of the System, Proceedings of the 5th International IEEE Annual Conference on Intelligent Transportation Systems, Anchorage, USA, pp.852-857, September 16-19, 2012, https://doi.org/10.1109/ITSC.2012.6338901
Yuichi Saito, Naohisa Hashimoto, Sadayuki Tsugawa, Shin Kato, Development on Indicating System of Information of Deceleration Intention to Following Vehicle: Suggestion and Fundamental Experiment, Proceedings of the 2012 IEEE International Conference on Vehicular Electronics and Safety, pp.157-162, Istanbul, Turkey, July 24-27, 2012, https://doi.org/10.1109/ICVES.2012.6294292
Naohisa Hashimoto, Shin Kato, Yuichi Saito, Sadayuki Tsugawa, Preliminary Experiments about Following Distance for Obtaining Benefit under Some Conditions, Proceedings of the 2012 IEEE International Conference on Vehicular Electronics and Safety, pp.128-133, Istanbul, Turkey, July 24-27, 2012, https://doi.org/10.1109/ICVES.2012.6294322