# Real-Time Semantic Segmentation for Fisheye Urban Driving Images Based on ERFNet

> Research article (Sensors, 2019) · cited 39× · AI/ML

**Wikidata**: [openalex:W2912061451](https://www.wikidata.org/wiki/openalex:W2912061451)  
**Source**: https://4ort.xyz/entity/real-time-semantic-segmentation-for-fisheye-urban-driving-images-based-on-erfnet