@article {2008.06041, archivePrefix = {arXiv}, eprint = {2008.06041}, primaryClass = {cs.CV}, author = {Wenyuan Zeng and Shenlong Wang and Renjie Liao and Yun Chen and Bin Yang and Raquel Urtasun}, title = {DSDNet: Deep Structured self-Driving Network}, year = {2020}, url = {http://arxiv.org/abs/2008.06041} }