@inproceedings{oleynikova2016signed,
  title={Signed Distance Fields: A Natural Representation for Both Mapping and Planning},
  author={Oleynikova, Helen and Millane, Alex and Taylor, Zachary and Galceran, Enric and Nieto, Juan and Siegwart, Roland},
  booktitle={Workshop on Geometry and Beyond, RSS 2016},
  year={2016}
}