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Semantic Segmentation for Free Space and Lane Based on Grid..:

Shao, Mei-En ; Haq, Muhamad Amirul ; Gao, De-Qin..
IEEE Transactions on Intelligent Transportation Systems.  23 (2022)  7 - p. 8498-8512 , 2022
Link: https://doi.org/10.1109/tits.2021.3083526