@article{roadscenegraphasemanticgraphbasedscene,
  title = {Road Scene Graph: A Semantic Graph-Based Scene Representation Dataset for Intelligent Vehicles},
  author = {Yafu Tian and Alexander Carballo and Ruifeng Li and Kazuya Takeda},
  year = {2020},
  eprint = {2011.13588},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2011.13588v1},
}