Fast Semantic Segmentation of RGB-D Scenes with GPU-Accelerated Deep Neural Networks. - Nico Höft; Hannes Schulz; Sven Behnke (KI, 2014)

Depth and height aware semantic RGB-D perception with convolutional neural networks. - Hannes Schulz; Nico Höft; Sven Behnke (ESANN, 2015)