?url_ver=Z39.88-2004&rft_id=10.20965%2Fjaciii.2019.p0909&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Ajournal&rft.aulast=Lee&rft.au=Lee%2C+A.W.C.&rft.aufirst=A.W.C.&rft.title=Journal+of+Advanced+Computational+Intelligence+and+Intelligent+Informatics&rft.date=2019&rft.volume=23&rft.issn=13430130&rft.issue=5&rft.atitle=Global+thresholding+for+scene+understanding+towards+autonomous+drone+navigation&rft.pages=909-919&rft.genre=article