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\bibitem{MiguelOliveira_etal2015} Miguel Oliveira, V{\'\i}tor Santos, Angel D. Sappa, \& Paulo Dias. (2015). Scene representations for autonomous driving: an approach based on polygonal primitives. In \textit{Iberian Robotics Conference (ROBOT 2015), Lisbon, Portugal, 2015} (Vol. 417, pp. 503--515). Springer International Publishing Switzerland 2016.

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