@article{mascetti2016robust,
  title={Robust traffic lights detection on mobile devices for pedestrians with visual impairment},
  author={Mascetti, Sergio and {Ahmetovic},{Dragan} and Gerino, Andrea and Bernareggi, Cristian and Busso, Mario and Rizzi, Alessandro},
  journal={Computer Vision and Image Understanding},
  year={2016},
  issn = {1077-3142},
  doi = "10.1016/j.cviu.2015.11.017",
  publisher={Academic Press}
}