@ARTICLE{gao2025boundaryaware,
  author={Shuang Gao and Qiang Wang and Yuxiang Sun},
  journal={IEEE Transactions on Circuits and Systems for Video Technology}, 
  title={Boundary-Aware Semantic Bird-Eye-View Map Generation Based on Conditional Diffusion Models}, 
  year={2025},
  volume={35},
  number={10},
  pages={10188-10198},
  doi={10.1109/TCSVT.2025.3564002}}