BibTex format
@article{Vespa:2018:10.1109/LRA.2018.2792537,
author = {Vespa, E and Nikolov, N and Grimm, M and Nardi, L and Kelly, PH and Leutenegger, S},
doi = {10.1109/LRA.2018.2792537},
journal = {IEEE Robotics and Automation Letters},
pages = {1144--1151},
title = {Efficient octree-based volumetric SLAM supporting signed-distance and occupancy mapping},
url = {http://dx.doi.org/10.1109/LRA.2018.2792537},
volume = {3},
year = {2018}
}