This is what I have:
PetSafe PRF-275-19 Stubborn Dog Fence Collar
The link is just for the collar but you should find a link for the whole system via the page.
Mister is a master at the get-away and a visible dog fence would interfere with farming and tractors access and such. Keeping him on a chain when he was outside, or an under ground fence were my only options. I knew from a hand held shock collar that he could withstand the initial shock and go through it.
So I went straight to the stubborn dog collar after researching on the internet. I installed it myself. You can rent a lawn edger to make the slit into which you put the wire.
I walked Mister around the parameters. Then, I pretended to work in the garden, keeping an eye on him. As soon as he thought my attention wasn't on him, he made a break for it. He went about halfway through the shock area - which I had set at 10 feet and then stopped.
This particular collar has a series of escalating warning beeps and shocks and if a dog tries to fly through it, it delivers the most powerful shock immediately. Setting the parameter at 10 feet gives a dog plenty of warning and doesn't allow him to skid through as he is trying to stop. The fence will shut off automatically if a dog gets stuck in the shock zone.
We are rural, we have wildlife which interests Mister enormously and he has never, ever gone through in the 6 years we have had the fence when he has had his collar on. I even got someone with a dog in heat to stand with their dog on the other side of the fence - not too close, not too far, to see just what it would take to get him over there. This was before Mister was neutered.
We have more than an acre fenced in - I'm not sure exactly how much. I think some of the problems people experience with their fences are due to improper installation. and forgetting to replace the batteries.
WRT taking the dog on walks, the training booklet that comes with the fence mentions using the same place as an imaginary gate and taking the dog through on a leash. The dog will realize that when you are leading him through the imaginary gate, that that area is safe. The dog will also realize eventually if you let him out without the collar, that there is nothing to stop him from running away, although it may make him a little more hesitant as he 'tries' out the idea.
One thing that you might want to do is to try the fence (mine was around $400 for the whole system, and I got extra wire from a neighbour for free). If it works, you've saved yourself money and if it doesn't work for you then you've lost only the $400.
I must stress that we are rural and have no neighbours. I don't know how it would work in an area where houses are side by side, and strange dogs are wandering around all the time. All I know is what I've experienced with foxes, rabbits, coyotes and deer here.
The foxes have grown so smart that they will go up to the area where the invisible fence is with Mister bristling ten feet away on the other side, knowing that for some reason he won't chase them beyond that point.
And my dogs are all in at night. I don't leave them outside. And I don't leave them outside when we are not home. But when they are outside when I am home, I don't check on them even if they are outside for several hours at a time without asking to come in.
Mister is my problem child. The beagle is too old and in her younger days only hunted on our land, and my female German shepherd is far too concerned with what I am doing to wander off the yard.
Hope this helps somewhat.