@article {11573/924697,
	title = {{Fast and robust 3D feature extraction from sparse point clouds}},
	volume = {{2016}},
	number = {{False}},
	year = {2016},
	pages = {4105-4112},
	keywords = {Computer Science Applications1707 Computer Vision and Pattern Recognition}, {1707},
	doi = {{10.1109/IROS.2016.7759604}},
	author = {Serafin, Jacopo and Olson, Edwin and Grisetti, Giorgio}
}
