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Tianyi Li, Chuanbin Lai, Xun Chai, Lixia Shen, Yong Wu. Coarse-to-Fine Lane Boundary Extraction for Large-Scale HD Mapping. In 2022 IEEE Intelligent Vehicles Symposium, IV 2022, Aachen, Germany, June 4-9, 2022. pages 119-126, IEEE, 2022. [doi]