@article{wang2019apolloscape,
  title={The apolloscape open dataset for autonomous driving and its application},
  author={Wang, Peng and Huang, Xinyu and Cheng, Xinjing and Zhou, Dingfu and Geng, Qichuan and Yang, Ruigang},
  journal={IEEE transactions on pattern analysis and machine intelligence},
  year={2019},
  publisher={IEEE}
}