@inproceedings{wang2021sne, title = {{SNE-RoadSeg+}: Rethinking depth-normal translation and deep supervision for freespace detection}, author = {Wang, Hengli and Fan, Rui and Cai, Peide and Liu, Ming}, booktitle = {2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)}, pages = {1140--1145}, year = {2021}, organization = {IEEE}, doi = {10.1109/IROS51168.2021.9636723} }