@ARTICLE{gao2022s2g2,
  author={Shuang Gao and Qiang Wang and Yuxiang Sun},
  journal={IEEE Robotics and Automation Letters}, 
  title={S2G2: Semi-Supervised Semantic Bird-Eye-View Grid-Map Generation Using a Monocular Camera for Autonomous Driving}, 
  year={2022},
  volume={7},
  number={4},
  pages={11974-11981},
  doi={10.1109/LRA.2022.3208377}}