mlsanityData to 7 Oct 2026

SNE-RoadSeg+: Rethinking Depth-Normal Translation and Deep Supervision for Freespace Detection

arXiv 2107.14599 ↗First posted 30 Jul 2021cs.CV cs.ROcited by 23

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Abstract (arXiv)

Freespace detection is a fundamental component of autonomous driving perception. Recently, deep convolutional neural networks (DCNNs) have achieved impressive performance for this task. In particular, SNE-RoadSeg, our previously proposed method based on a surface normal estimator (SNE) and a data-fusion DCNN (RoadSeg), has achieved impressive performance in freespace detection. However, SNE-RoadSeg is computationally intensive, and it is difficult to execute in real time. To address this problem, we introduce SNE-RoadSeg+, an upgraded version of SNE-RoadSeg. SNE-RoadSeg+ consists of 1) SNE+, a module for more accurate surface normal estimation, and 2) RoadSeg+, a data-fusion DCNN that can greatly minimize the trade-off between accuracy and efficiency with the use of deep supervision. Extensive experimental results have demonstrated the effectiveness of our SNE+ for surface normal estimation and the superior performance of our SNE-RoadSeg+ over all other freespace detection approaches. Specifically, our SNE-RoadSeg+ runs in real time, and meanwhile, achieves the state-of-the-art performance on the KITTI road benchmark. Our project page is at https://www.sne-roadseg.site/sne-roadseg-plus.

Key facts. Cited by 23 papers in the map (data through 7 Oct 2026). Builds on 25 of its 36 references that are in the map. First posted on arXiv 30 Jul 2021.

Builds on

25 of 36 references.

References · 25

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  2. 2014Fully Convolutional Networks for Semantic Segmentationcited by 4,845
  3. 2018Encoder-Decoder with Atrous Separable Convolution for Semantic Image Segmentationcited by 3,210
  4. 2017ScanNet: Richly-annotated 3D Reconstructions of Indoor Scenescited by 3,088
  5. 2015SegNet: A Deep Convolutional Encoder-Decoder Architecture for Image Segmentationcited by 1,483
  6. 2019UNet++: Redesigning Skip Connections to Exploit Multiscale Features in Image Segmentationcited by 583
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  9. 2019Gated-SCNN: Gated Shape CNNs for Semantic Segmentationcited by 165
  10. 2018Depth-aware CNN for RGB-D Segmentationcited by 73
  11. 2020SNE-RoadSeg: Incorporating Surface Normal Information into Semantic Segmentation for Accurate Freespace Detectioncited by 66
  12. 2018LIDAR-Camera Fusion for Road Detection Using Fully Convolutional Neural Networkscited by 41
13 more
  1. 2019Progressive LiDAR Adaptation for Road Detectioncited by 37
  2. 2016Marr Revisited: 2D-3D Alignment via Surface Normal Predictioncited by 34
  3. 2021PVStereo: Pyramid Voting Module for End-to-End Self-Supervised Stereo Matchingcited by 28
  4. 2019FrameNet: Learning Local Canonical Frames of 3D Surfaces from a Single RGB Imagecited by 26
  5. 2021Learning Interpretable End-to-End Vision-Based Motion Planning for Autonomous Driving with Optical Flow Distillationcited by 25
  6. 2019Road Damage Detection Based on Unsupervised Disparity Map Segmentationcited by 24
  7. 2021Dynamic Fusion Module Evolves Drivable Area and Road Anomaly Detection: A Benchmark and Algorithmscited by 23
  8. 2020Applying Surface Normal Information in Drivable Area and Road Anomaly Detection for Ground Mobile Robotscited by 20
  9. 2020Learning Collision-Free Space Detection from Stereo Images: Homography Matrix Brings Better Data Augmentationcited by 19
  10. 2020Self-Supervised Drivable Area and Road Anomaly Segmentation using RGB-D Data for Robotic Wheelchairscited by 18
  11. 2021End-to-End Interactive Prediction and Planning with Optical Flow Distillation for Autonomous Drivingcited by 17
  12. 2020Three-Filters-to-Normal: An Accurate and Ultrafast Surface Normal Estimatorcited by 14
  13. 2020CoT-AMFlow: Adaptive Modulation Network with Co-Teaching Strategy for Unsupervised Optical Flow Estimationcited by 10

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2022: 6; 2023: 7; 2024: 7; 2025: 1; 2026: 2.

23 papers.

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  1. 2023Radar-Camera Fusion for Object Detection and Semantic Segmentation in Autonomous Driving: A Comprehensive Reviewcited by 57
  2. 2023RoadFormer: Duplex Transformer for RGB-Normal Semantic Road Scene Parsingcited by 27
  3. 2022Computer Vision for Road Imaging and Pothole Detection: A State-of-the-Art Review of Systems and Algorithmscited by 19
  4. 2022Fast Road Segmentation via Uncertainty-aware Symmetric Networkcited by 17
  5. 2024S3M-Net: Joint Learning of Semantic Segmentation and Stereo Matching for Autonomous Drivingcited by 14
  6. 2022A Comprehensive Review on Deep Supervision: Theories and Applicationscited by 10
  7. 2023D2NT: A High-Performing Depth-to-Normal Translatorcited by 10
  8. 2024RoadFormer+: Delivering RGB-X Scene Parsing through Scale-Aware Information Decoupling and Advanced Heterogeneous Feature Fusioncited by 9
  9. 2024SNE-RoadSegV2: Advancing Heterogeneous Feature Fusion and Fallibility Awareness for Freespace Detectioncited by 8
  10. 2024LIX: Implicitly Infusing Spatial Geometric Prior Knowledge into Visual Semantic Segmentation for Autonomous Drivingcited by 8
  11. 2023Multi-Modal Multi-Task (3MT) Road Segmentationcited by 6
  12. 2025ROD: RGB-Only Fast and Efficient Off-road Freespace Detectioncited by 5
11 more
  1. 2022SDA-SNE: Spatial Discontinuity-Aware Surface Normal Estimation via Multi-Directional Dynamic Programmingcited by 3
  2. 2023Polarimetric Imaging for Perceptioncited by 3
  3. 2023SkipcrossNets: Adaptive Skip-cross Fusion for Road Detectioncited by 3
  4. 2024TiCoSS: Tightening the Coupling between Semantic Segmentation and Stereo Matching within A Joint Learning Frameworkcited by 3
  5. 2024Depth Matters: Exploring Deep Interactions of RGB-D for Semantic Segmentation in Traffic Scenescited by 3
  6. 2022Computer-Aided Road Inspection: Systems and Algorithmscited by 2
  7. 2023Three-Filters-to-Normal+: Revisiting Discontinuity Discrimination in Depth-to-Normal Translationcited by 2
  8. 2022Cross-Modality Domain Adaptation for Freespace Detection: A Simple yet Effective Baselinecited by 1
  9. 2024TEDNet: Twin Encoder Decoder Neural Network for 2D Camera and LiDAR Road Detectioncited by 0
  10. 2026OT-Drive: Out-of-Distribution Off-Road Traversable Area Segmentation via Optimal Transportcited by 0
  11. 2026Towards All-Day Perception for Off-Road Driving: A Large-Scale Multispectral Dataset and Comprehensive Benchmarkcited by 0