He, S.; Bastani, F.; Jagwani, S.; Park, E.; Abbar, S.; Alizadeh, M.; Balakrishnan, H.; Chawla, S.; Madden, S.; Sadeghi, M. A. RoadTagger: Robust Road Attribute Inference With Graph Neural Networks. AAAI 2020, 34, 10965-10972.