@ARTICLE{feng2024polarpointbev,
  author={Yuchao Feng and Yuxiang Sun},
  journal={IEEE Transactions on Intelligent Vehicles}, 
  title={PolarPoint-BEV: Bird-Eye-View Perception in Polar Points for Explainable End-to-End Autonomous Driving}, 
  year={2024},
  volume={9},
  number={11},
  pages={6753-6763},
  keywords={Autonomous vehicles;Semantics;Visualization;Task analysis;Three-dimensional displays;Planning;Laser radar;End-to-end autonomous driving;BEV perception;explainable AI (XAI)},
  doi={10.1109/TIV.2024.3361093}}