# RoadFormer+: Delivering RGB-X Scene Parsing Through Scale-Aware Information Decoupling and Advanced Heterogeneous Feature Fusion

> Research article (IEEE Transactions on Intelligent Vehicles, 2024) · cited 36× · AI/ML

**Wikidata**: [openalex:W4401747775](https://www.wikidata.org/wiki/openalex:W4401747775)  
**Source**: https://4ort.xyz/entity/roadformer-delivering-rgb-x-scene-parsing-through-scale-aware-information-decoupling-and-advanced-heterogeneous-feature-