@article{centerlinedetroadlanecenterlinegraph,
  title = {CenterLineDet: CenterLine Graph Detection for Road Lanes with Vehicle-mounted Sensors by Transformer for HD Map Generation},
  author = {Zhenhua Xu and Yuxuan Liu and Yuxiang Sun and Ming Liu and Lujia Wang},
  year = {2022},
  eprint = {2209.07734},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2209.07734v2},
}