# RoadFormer: Duplex Transformer for RGB-Normal Semantic Road Scene Parsing

> Research article (IEEE Transactions on Intelligent Vehicles, 2024) · cited 50× · AI/ML

**Wikidata**: [openalex:W4394896985](https://www.wikidata.org/wiki/openalex:W4394896985)  
**Source**: https://4ort.xyz/entity/roadformer-duplex-transformer-for-rgb-normal-semantic-road-scene-parsing