@inproceedings{fan2020sne,
  title        = {{SNE-RoadSeg}: Incorporating surface normal information into semantic segmentation for accurate freespace detection},
  author       = {Fan, Rui and Wang, Hengli and Cai, Peide and Liu, Ming},
  booktitle    = {European Conference on Computer Vision},
  pages        = {340--356},
  year         = {2020},
  organization = {Springer}
}