@ARTICLE{sun2021pointmoseg,  
  author={Yuxiang Sun and Weixun Zuo and Huaiyang Huang and Peide Cai and Ming Liu}, 
  journal={IEEE Robotics and Automation Letters}, 
  title={PointMoSeg: Sparse Tensor-Based End-to-End Moving-Obstacle Segmentation in 3-D Lidar Point Clouds for Autonomous Driving}, 
  year={2021},
  volume={6},
  number={2},
  pages={510-517},
  doi={10.1109/LRA.2020.3047783}}