human: Given a node-centered hypergraph: <hypergraph>, where nodes represent papers and hyperedges represent sets of papers co-cited by a source paper.

Details of the hypergraph:
Center node: "a novel disparity transformation algorithm for road segmentation"
  Abstract: The disparity information provided by stereo cameras has enabled advanced driver assistance systems to estimate road area more accurately and effectively. In this paper, a novel disparity transformation algorithm is proposed to extract road areas from dense disparity maps by making the disparity value of the road pixels become similar. The transformation is achieved using two parameters: roll angle and fitted disparity value with respect to each row. To achieve a better processing efficiency, golden section search and dynamic programming are utilised to estimate the roll angle and the fitted disparity value, respectively. By performing a rotation around the estimated roll angle, the disparity distribution of each row becomes very compact. This further improves the accuracy of the road model estimation, as demonstrated by the various experimental results in this paper. Finally, the Otsu's thresholding method is applied to the transformed disparity map and the roads can be accurately segmented at pixel level.

Connected through hyperedge HE-1 (induced by source paper "key ingredients of self driving cars"):
  with members:
    - "road crack detection using deep convolutional neural network and adaptive thresholding"
    - "automatic calibration of multiple 3d lidars in urban environments"
    - "using dp towards a shortest path problem related application"
    - "tightly coupled 3d lidar inertial odometry and mapping"
    - "a novel dual lidar calibration algorithm using planar surfaces"
    - "road surface 3d reconstruction based on dense subpixel disparity map estimation"
    - "trafficpredict trajectory prediction for heterogeneous traffic agents"
    - "real time stereo vision for road surface 3 d reconstruction"

Connected through hyperedge HE-2 (induced by source paper "pt resnet perspective transformation based residual network for semantic road image segmentation"):
  with members:
    - "pothole detection based on disparity transformation and road surface modeling"
    - "a robust pavement mapping system based on normal constrained stereo visual odometry"
    - "real time dense stereo embedded in a uav for road inspection"
    - "key ingredients of self driving cars"
    - "road damage detection based on unsupervised disparity map segmentation"
    - "scene understanding networks for autonomous driving based on around view monitoring system"
    - "a general pipeline for 3d detection of vehicles"
    - "road surface 3d reconstruction based on dense subpixel disparity map estimation"

Connected through hyperedge HE-3 (induced by source paper "a robust pavement mapping system based on normal constrained stereo visual odometry"):
  with members:
    - "pothole detection based on disparity transformation and road surface modeling"
    - "a robust roll angle estimation algorithm based on gradient descent"
    - "real time dense stereo embedded in a uav for road inspection"
    - "key ingredients of self driving cars"
    - "road damage detection based on unsupervised disparity map segmentation"
    - "road surface 3d reconstruction based on dense subpixel disparity map estimation"
    - "vins mono a robust and versatile monocular visual inertial state estimator"
    - "orb slam2 an open source slam system for monocular stereo and rgb d cameras"

Connected through hyperedge HE-4 (induced by source paper "robust lane marking detection algorithm using drivable area segmentation and extended slt"):
  with members:
    - "pothole detection based on disparity transformation and road surface modeling"
    - "real time dense stereo embedded in a uav for road inspection"
    - "key ingredients of self driving cars"
    - "road damage detection based on unsupervised disparity map segmentation"
    - "real time subpixel fast bilateral stereo"
    - "road surface 3d reconstruction based on dense subpixel disparity map estimation"
    - "real time stereo vision based lane detection system"
    - "multiple lane detection algorithm based on optimised dense disparity map estimation"

Connected through hyperedge HE-5 (induced by source paper "road crack detection using deep convolutional neural network and adaptive thresholding"):
  with members:
    - "using dp towards a shortest path problem related application"
    - "real time dense stereo embedded in a uav for road inspection"
    - "real time subpixel fast bilateral stereo"
    - "road surface 3d reconstruction based on dense subpixel disparity map estimation"
    - "real time stereo vision based lane detection system"
    - "real time stereo vision for road surface 3 d reconstruction"
    - "improving computer aided detection using convolutional neural networks and random view aggregation"
    - "improving object detection with deep convolutional networks via bayesian optimization and structured prediction"

Connected through hyperedge HE-6 (induced by source paper "road damage detection based on unsupervised disparity map segmentation"):
  with members:
    - "pothole detection based on disparity transformation and road surface modeling"
    - "real time dense stereo embedded in a uav for road inspection"
    - "road surface 3d reconstruction based on dense subpixel disparity map estimation"
    - "real time stereo vision based lane detection system"
    - "real time stereo vision for road surface 3 d reconstruction"
    - "rethinking atrous convolution for semantic image segmentation"
    - "deep residual learning for image recognition"

Connected through hyperedge HE-7 (induced by source paper "a robust roll angle estimation algorithm based on gradient descent"):
  with members:
    - "real time dense stereo embedded in a uav for road inspection"
    - "real time subpixel fast bilateral stereo"
    - "road surface 3d reconstruction based on dense subpixel disparity map estimation"
    - "real time stereo vision based lane detection system"
    - "real time stereo vision for road surface 3 d reconstruction"
    - "multiple lane detection algorithm based on optimised dense disparity map estimation"

Connected through hyperedge HE-8 (induced by source paper "real time dense stereo embedded in a uav for road inspection"):
  with members:
    - "road surface 3d reconstruction based on dense subpixel disparity map estimation"
    - "real time stereo vision for road surface 3 d reconstruction"
    - "pyramid stereo matching network"
    - "computing the stereo matching cost with a convolutional neural network"
    - "learning to compare image patches via convolutional neural networks"

Question: Please tell me which class the center node belongs to. The 40 classes are: cs.NA(Numerical Analysis), cs.MM(Multimedia), cs.LO(Logic in Computer Science), cs.CY(Computers and Society), cs.CR(Cryptography and Security), cs.DC(Distributed, Parallel, and Cluster Computing), cs.HC(Human-Computer Interaction), cs.CE(Computational Engineering, Finance, and Science), cs.NI(Networking and Internet Architecture), cs.CC(Computational Complexity), cs.AI(Artificial Intelligence), cs.MA(Multiagent Systems), cs.GL(General Literature), cs.NE(Neural and Evolutionary Computing), cs.SC(Symbolic Computation), cs.AR(Hardware Architecture), cs.CV(Computer Vision and Pattern Recognition), cs.GR(Graphics), cs.ET(Emerging Technologies), cs.SY(Systems and Control), cs.CG(Computational Geometry), cs.OH(Other Computer Science), cs.PL(Programming Languages), cs.SE(Software Engineering), cs.LG(Machine Learning), cs.SD(Sound), cs.SI(Social and Information Networks), cs.RO(Robotics), cs.IT(Information Theory), cs.PF(Performance), cs.CL(Computation and Language), cs.IR(Information Retrieval), cs.MS(Mathematical Software), cs.FL(Formal Languages and Automata Theory), cs.DS(Data Structures and Algorithms), cs.OS(Operating Systems), cs.GT(Computer Science and Game Theory), cs.DB(Databases), cs.DL(Digital Libraries), cs.DM(Discrete Mathematics). Directly output the class name.

gpt: cs.CV(Computer Vision and Pattern Recognition)