@conference {Serafin2016b,
	title = {Fast and Robust 3D Feature Extraction from Sparse Point Clouds},
	booktitle = {Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS)},
	year = {2016},
	pages = {4105{\textendash}4112},
	address = {Daejeon, Korea},
	doi = {10.1109/IROS.2016.7759604},
	url = {http://jacoposerafin.com/wp-content/uploads/serafin16iros.pdf},
	author = {Serafin, Jacopo and Olson, Edwin and Grisetti, Giorgio}
}
