Drivable Area Detection Method in Dark Unstructured-Roads Based on CNN Data Fusion With Surface Normal Estimation. - Pengyu Xue; Dawei Pi; Hongliang Wang; Yuejun Cheng; Yongjun Yan; Xiaowang Sun; Yibo Liu; Xianhui Wang; Dingge Fan; Xian Li; Yibo Hu (IEEE Trans. Intell. Transp. Syst., 2025)