@article{conditionalaffordancelearningfordriving,
  title = {Conditional Affordance Learning for Driving in Urban Environments},
  author = {Axel Sauer and Nikolay Savinov and Andreas Geiger},
  year = {2018},
  eprint = {1806.06498},
  archivePrefix = {arXiv},
  url = {http://arxiv.org/abs/1806.06498v3},
}