@ARTICLE{wang2019self, 
  author={Hengli Wang and Yuxiang Sun and Ming Liu}, 
  journal={IEEE Robotics and Automation Letters}, 
  title={Self-Supervised Drivable Area and Road Anomaly Segmentation Using RGB-D Data For Robotic Wheelchairs}, 
  year={2019},
  volume={4},
  number={4},
  pages={4386-4393},
  doi={10.1109/LRA.2019.2932874}}