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並前往https://www.cs.toronto.edu/~urtasun/publications/chu_etal_cvpr18.pdf

SurfConv: Bridging 3D and 2D Convolution for RGBD Images

Multi-Scale 2D Convolutions. To get better perfor- mance, a host of approaches have used multi-scale input to for tasks such as semantic segmentation [2 ...

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