Michael Teutsch Thomas Heger Thomas Schamm Johann Marius Zöllner 3D-segmentation of traffic environments with u/v-disparity supported by radar-given masterpoints. 787-792 2010 Intelligent Vehicles Symposium https://doi.org/10.1109/IVS.2010.5548111 conf/ivs/2010 db/conf/ivs/ivs2010.html#TeutschHSZ10