A context-free grammar is said to be self-embedding if and only if contains a derivation of the form $\xi\stackrel*\Rightarrow u\xi v$, where $\xi$ is a non-terminal and $u$, $v$ are some non-empty words.
Please note that I am aware the undecidability of the conversion of context-free grammar to regular grammar. But given an input context-free grammar that is not self-embedding, is there any algorithm to convert it to regular grammar, or DFA directly?