@article{millane2021freetures,
  title={Freetures: Localization in signed distance function maps},
  author={Millane, Alexander James and Oleynikova, Helen and Lanegger, Christian and Delmerico, Jeffrey and Nieto, Juan and Siegwart, Roland and Pollefeys, Marc and Lerma, Cesar Cadena},
  journal={IEEE Robotics and Automation Letters},
  year={2021},
  publisher={IEEE}
}