@ARTICLE{sun2019rtfnet,
  author={Yuxiang Sun and Weixun Zuo and Ming Liu}, 
  journal={IEEE Robotics and Automation Letters}, 
  title={RTFNet: RGB-Thermal Fusion Network for Semantic Segmentation of Urban Scenes}, 
  year={2019},
  volume={4},
  number={3},
  pages={2576-2583},
  doi={10.1109/LRA.2019.2904733}}