@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 = {Computer Vision -- ECCV 2020},
  pages     = {340--356},
  year      = {2020},
  editor    = {Vedaldi, Andrea and Bischof, Horst and Brox, Thomas and Frahm, Jan-Michael},
  publisher = {Springer International Publishing},
  doi       = {10.1007/978-3-030-58577-8_21}
}