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Sviatov K., Miheev A., Kanin D., Sukhov S., Tronin V. Scenes Segmentation in Self-driving Car Navigation System Using Neural Network Models with Attention. 19th International Conference on Computational Science and Its Applications, ICCSA 2019, (Санкт-Петербург, 1–4 июля, 2019 г.). , 2019 .