Liu, Ruijin, Dapeng Chen, Tie Liu, Zhiliang Xiong, and Zejian Yuan. “Learning to Predict 3D Lane Shape and Camera Pose from a Single Image via Geometry Constraints”. Proceedings of the AAAI Conference on Artificial Intelligence 36, no. 2 (June 28, 2022): 1765-1772. Accessed May 5, 2024. https://ojs.aaai.org/index.php/AAAI/article/view/20069.