@article{huang2009auro,
    author = {Albert S. Huang and David Moore and Matthew Antone and Edwin Olson and Seth Teller},
    title = {Finding Multiple Lanes in Urban Road Networks with Vision and Lidar},
    journal = {{Autonomous Robots}},
    volume = {26},
    number = {2-3},
    month = {Apr.},
    year = {2009},
    pages = {103-122}
}