@inproceedings{jafari2017analyzing, title={Analyzing modular CNN architectures for joint depth prediction and semantic segmentation}, author={Jafari, Omid Hosseini and Groth, Oliver and Kirillov, Alexander and Yang, Michael Ying and Rother, Carsten}, booktitle={2017 IEEE International Conference on Robotics and Automation (ICRA)}, pages={4620--4627}, year={2017}, organization={IEEE} }