Jamie Watson Michael Firman Áron Monszpart Gabriel J. Brostow Footprints and Free Space From a Single Color Image. 11-20 2020 CVPR https://openaccess.thecvf.com/content_CVPR_2020/html/Watson_Footprints_and_Free_Space_From_a_Single_Color_Image_CVPR_2020_paper.html https://doi.org/10.1109/CVPR42600.2020.00009 conf/cvpr/2020 db/conf/cvpr/cvpr2020.html#WatsonFMB20