@ARTICLE{xu2022csboundary,
  author={Zhenhua Xu and Yuxuan Liu and Lu Gan and Xiangcheng Hu and Yuxiang Sun and Ming Liu and Lujia Wang},
  journal={IEEE Robotics and Automation Letters}, 
  title={csBoundary: City-Scale Road-Boundary Detection in Aerial Images for High-Definition Maps}, 
  year={2022},
  volume={7},
  number={2},
  pages={5063-5070},
  doi={10.1109/LRA.2022.3154052}}