@INPROCEEDINGS{gao2024obstacle,
  author={Shuang Gao and Qiang Wang and Yuxiang Sun},
  booktitle={2024 IEEE Intelligent Vehicles Symposium (IV)}, 
  title={Obstacle-sensitive Semantic Bird-Eye-View Map Generation with Boundary-aware Loss for Autonomous driving}, 
  year={2024},
  volume={},
  number={},
  pages={466-471},
  keywords={Pedestrians;Roads;Semantics;Layout;Autonomous vehicles},
  doi={10.1109/IV55156.2024.10588473}}