Feng Xue, Anlong Ming, Menghan Zhou, Yu Zhou
Tiny Obstacle Discovery by Occlusion-aware Multi-layer Regression,
IEEE Transactions on Image Processing (TIP), vol. 29, pp. 9373-9386, 2020. 

pdf:    https://arxiv.org/abs/2111.09204

code:  https://github.com/XuefengBUPT/TOD_OMR