L. Rosero, J. Silva, D. Wolf, and F. Osório.
" CNN-Planner: A neural path planner based on sensor fusion in the bird's eye view representation space for mapless autonomous driving", in <em>Proceedings of the 14th Brazilian Symposium on Robotics and 19th Latin American Robotics Symposium</em>, São Bernardo do Campo/SP, 2022, pp. 181-186.