@ARTICLE{xu2021topo,
  author={Zhenhua Xu and Yuxiang Sun and Ming Liu},
  journal={IEEE Robotics and Automation Letters}, 
  title={Topo-Boundary: A Benchmark Dataset on Topological Road-Boundary Detection Using Aerial Images for Autonomous Driving}, 
  year={2021},
  volume={6},
  number={4},
  pages={7248-7255},
  doi={10.1109/LRA.2021.3097512}}