?url_ver=Z39.88-2004&rft_id=10.1109%2FITSIM.2010.5561650&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Abook&rft.aufirst=K.H.&rft.aulast=Yew&rft.au=Yew%2C+K.H.&rft.title=SafeJourney%3A+A+pedestrian+map+using+safety+annotation+for+route+determination&rft.isbn=9781424467181&rft.date=2010&rft.genre=proceeding