@inproceedings{blvdICRA2019, title={{BLVD}: Building A Large-scale 5D Semantics Benchmark for Autonomous Driving}, author={Jianru Xue and Jianwu Fang and Tao Li and Bohua Zhang and Pu Zhang and Zhen Ye and Jian Dou}, booktitle={Proc. International Conference on Robotics and Automation, in press}, year={2019} }