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 Hosseini Jafari, O, Groth, O, Kirillov, A, Yang, M Ying and Rother, C (2017). Analyzing modular CNN architectures for joint depth prediction and semantic segmentation. Proceedings - IEEE International Conference on Robotics and Automation. 4620?4627. http://arxiv.org/abs/1702.08009 http://dx.doi.org/10.1109/ICRA.2017.7989537\par \par }