Xiao Tianwen, Xu Yongneng, and Yu Huimin. “Research on Obstacle Detection Method of Urban Rail Transit Based on Multisensor Technology”. Journal of Artificial Intelligence and Technology 1, no. 1 (January 15, 2021): 61–67. Accessed May 18, 2024. https://ojs.istp-press.com/jait/article/view/7.