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In this paper, we investigated various word clustering methods, by studying two clustering algorithms: Brown clustering and exchange algorithm, and three objective functions derived from different class-based language models (CBLM): two-sided, predictive and conditional models. In particular, we focused on the implementation of the exchange algorithm with(More)
Reliable traffic light detection and classification is crucial for automated driving in urban environments. Currently, there are no systems that can reliably perceive traffic lights in real-time, without map-based information, and in sufficient distances needed for smooth urban driving. We propose a complete system consisting of a traffic light detector,(More)
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