@conference {nardi2018icra,
	title = {Unified Representation of Heterogeneous Sets of Geometric Primitives},
	booktitle = {ICRA18 Workshop on Perception, Inference, and Learning for Joint Semantic, Geometric, and Physical Understanding},
	year = {2018},
	author = {Nardi, Federico and Della Corte, Bartolomeo and Grisetti, Giorgio}
}
