Algebraic-distance minimization of lines and ellipses for traffic sign shape localization - Gil-Jiménez, P.; Maldonado-Bascón, S.; Gómez-Moreno, H.; Lafuente-Arroyo, S.; Acevedo-Rodríguez, J. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), 2007)