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@article{vespa2018efficient,
 title = {Efficient octree-based volumetric SLAM supporting signed-distance and occupancy mapping},
 author = {E Vespa and N Nikolov and M Grimm and L Nardi and PH Kelly and S Leutenegger},
 journal = {IEEE Robotics and Automation Letters},
 volume = {3},
 number = {2},
 pages = {1144--1151},
 year = {2018},
 publisher = {IEEE},
 keywords = {supereight12,denseslam},
}

@inproceedings{vespa2019adaptive,
 title = {Adaptive-resolution octree-based volumetric SLAM},
 author = {E Vespa and N Funk and PH Kelly and S Leutenegger},
 booktitle = {2019 International Conference on 3D Vision (3DV)},
 pages = {654--662},
 year = {2019},
 organization = {IEEE},
 keywords = {supereight12,denseslam},
}