@article{sneroadsegrethinkingdepthnormal,
  title = {SNE-RoadSeg+: Rethinking Depth-Normal Translation and Deep Supervision for Freespace Detection},
  author = {Hengli Wang and Rui Fan and Peide Cai and Ming Liu},
  year = {2021},
  eprint = {2107.14599},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2107.14599v2},
}