@article{groundnetsegmentationawaremonoculargroun,
  title = {GroundNet: Monocular Ground Plane Normal Estimation with Geometric Consistency},
  author = {Yunze Man and Xinshuo Weng and Xi Li and Kris Kitani},
  year = {2018},
  eprint = {1811.07222},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/1811.07222v4},
}