详解深度学习之经典网络架构(十):九大框架汇总
https://blog.csdn.net/chenyuping333/article/details/82526440
阿波罗github
https://github.com/ApolloAuto/apollo
新博的marine_data_process采用的就是rtnet网络
apollo/modules/perception/production/data/perception/lidar/models/cnnseg/velodyne64/deploy.prototxt
netscope查看网络模型的图片