@article{hdnetexploitinghdmapsfor3dobject,
  title = {HDNET: Exploiting HD Maps for 3D Object Detection},
  author = {Bin Yang and Ming Liang and Raquel Urtasun},
  year = {2020},
  eprint = {2012.11704},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2012.11704v1},
}