@article{emergencyvehiclesaudiodetectionand,
  title = {Emergency Vehicles Audio Detection and Localization in Autonomous Driving},
  author = {Hongyi Sun and Xinyi Liu and Kecheng Xu and Jinghao Miao and Qi Luo},
  year = {2021},
  eprint = {2109.14797},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2109.14797v2},
}