@conference {Serafin2015, title = {NICP: Dense Normal Based Point Cloud Registration}, booktitle = {IROS}, year = {2015}, pages = {742{\textendash}749}, address = {Hamburg, Germany}, doi = {10.1109/IROS.2015.7353455}, url = {http://jacoposerafin.com/wp-content/uploads/serafin15iros.pdf}, author = {Serafin, Jacopo and Grisetti, Giorgio} }