R. Sarcinelli <em>et al.</em>"Handling Pedestrians in Self-Driving Cars using Image Tracking and Alternative Path Generation with Frenet Frames", in <em>Anais da XXXII Conference on Graphics, Patterns and Images</em>, Rio de Janeiro, 2019, doi: <a href="https://doi.org/10.5753/sibgrapi.2019.9821">https://doi.org/10.5753/sibgrapi.2019.9821</a>.