@ARTICLE{xu2023rngdetplusplus,
  author={Zhenhua Xu and Yuxuan Liu and Yuxiang Sun and Ming Liu and Lujia Wang},
  journal={IEEE Robotics and Automation Letters}, 
  title={RNGDet++: Road Network Graph Detection by Transformer With Instance Segmentation and Multi-Scale Features Enhancement}, 
  year={2023},
  volume={8},
  number={5},
  pages={2991-2998},
  doi={10.1109/LRA.2023.3264723}}