@INPROCEEDINGS{xu2023centerlinedet,
  author={Zhenhua Xu and Yuxuan Liu and Yuxiang Sun and Ming Liu and Lujia Wang},
  booktitle={2023 IEEE International Conference on Robotics and Automation (ICRA)}, 
  title={CenterLineDet: CenterLine Graph Detection for Road Lanes with Vehicle-mounted Sensors by Transformer for HD Map Generation}, 
  year={2023},
  volume={},
  number={},
  pages={3553-3559},
  doi={10.1109/ICRA48891.2023.10161508}}