@ARTICLE{huang2025roadformer,
  author={Jianxin Huang and Jiahang Li and Ning Jia and Yuxiang Sun and Chengju Liu and Qijun Chen and Rui Fan}, 
  journal={IEEE Transactions on Intelligent Vehicles}, 
  title={RoadFormer+: Delivering RGB-X Scene Parsing Through Scale-Aware Information Decoupling and Advanced Heterogeneous Feature Fusion}, 
  year={2025},
  volume={10},
  number={5},
  pages={3156-3165},
  keywords={Feature extraction;Transformers;Fuses;Task analysis;Intelligent vehicles;Data mining;Roads;Convolutional neural network;heterogeneous features;transformer;urban scene parsing},
  doi={10.1109/TIV.2024.3448251}}