@article{yang2024three,
  title={Three-Filters-to-Normal $+ $: Revisiting Discontinuity Discrimination in Depth-to-Normal Translation},
  author={Yang, Jingwei and Xue, Bohuan and Feng, Yi and Wang, Deming and Fan, Rui and Chen, Qijun},
  journal={IEEE Transactions on Automation Science and Engineering},
  year={2024},
  publisher={IEEE}
}