Yang, Z., P. Wang, W. Xu, L. Zhao, and R. Nevatia. “Unsupervised Learning of Geometry From Videos With Edge-Aware Depth-Normal Consistency”. Proceedings of the AAAI Conference on Artificial Intelligence, vol. 32, no. 1, Apr. 2018, doi:10.1609/aaai.v32i1.12257.