@article{reijgwart2019voxgraph,
  title={Voxgraph: Globally Consistent, Volumetric Mapping using Signed Distance Function Submaps},
  author={Reijgwart, Victor and Millane, Alexander and Oleynikova, Helen and Siegwart, Roland and Cadena, Cesar and Nieto, Juan},
  journal={IEEE Robotics and Automation Letters},
  volume={5},
  number={1},
  pages={227--234},
  year={2019},
  publisher={IEEE}
}