@article{exploitingmultilayergridmapsforsurround,
  title = {Exploiting Multi-Layer Grid Maps for Surround-View Semantic Segmentation of Sparse LiDAR Data},
  author = {Frank Bieder and Sascha Wirges and Johannes Janosovits and Sven Richter and Zheyuan Wang and Christoph Stiller},
  year = {2020},
  eprint = {2005.06667},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2005.06667v1},
}