@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 = {}, year = {2021}, organization = {IEEE}, doi = {} }