@ARTICLE{Lambert23tpami_MSeg,
  author={Lambert, John and Liu, Zhuang and Sener, Ozan and Hays, James and Koltun, Vladlen},
  journal={IEEE Transactions on Pattern Analysis and Machine Intelligence}, 
  title={MSeg: A Composite Dataset for Multi-Domain Semantic Segmentation}, 
  year={2023},
  volume={45},
  number={1},
  pages={796-810},
  doi={10.1109/TPAMI.2022.3151200}}