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3D Perception With Slanted Stixels on GPU:

Hernandez-Juarez, Daniel ; Espinosa, Antonio ; Vazquez, David..
IEEE Transactions on Parallel and Distributed Systems.  32 (2021)  10 - p. 2434-2447 , 2021
Link: https://doi.org/10.1109/tpds.2021.3067836