@ARTICLE{9771137,
  author={He, Zhijian and Fan, Xueli and Peng, Yun and Shen, Zhaoyan and Jiao, Jianhao and Liu, Ming},
  journal={IEEE Transactions on Computer-Aided Design of Integrated Circuits and Systems}, 
  title={EmPointMovSeg: Sparse Tensor-Based Moving-Object Segmentation in 3-D LiDAR Point Clouds for Autonomous Driving-Embedded System}, 
  year={2023},
  volume={42},
  number={1},
  pages={41-53},
  doi={10.1109/TCAD.2022.3172031}}