Halpage Chinthaka Nuwandika Premachandra Tomohiro Yendo Mehrdad Panahpour Tehrani Takaya Yamazato Hiraku Okada Toshiaki Fujii Masayuki Tanimoto High-speed-camera image processing based LED traffic light detection for road-to-vehicle visible light communication. 793-798 2010 Intelligent Vehicles Symposium https://doi.org/10.1109/IVS.2010.5548097 conf/ivs/2010 db/conf/ivs/ivs2010.html#PremachandraYTYOFT10