@article{lanegraphestimationforsceneunderstanding,
  title = {Lane Graph Estimation for Scene Understanding in Urban Driving},
  author = {Jannik Zürn and Johan Vertens and Wolfram Burgard},
  year = {2021},
  eprint = {2105.00195},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2105.00195v1},
}