@article{woo2025real,
  title={Real-time RGB-D Semantic Segmentation With Scale-invariant Depth Encoding and Noise-robust Fusion},
  author={Woo, Suhan and Hyun, Junhyuk and Lee, Suhyeon and Kim, Euntai},
  journal={International Journal of Control, Automation and Systems},
  volume={23},
  number={12},
  pages={3649--3661},
  year={2025},
  publisher={Springer}
}