@article{stueckler-jvcir14, title = {Multi-Resolution Surfel Maps for Efficient Dense 3D Modeling and Tracking}, author = {Stueckler, J. and Behnke, S.}, journal = {Journal of Visual Communication and Image Representation (JVCI)}, volume = {25}, number = {1}, pages = {137--147}, year = {2014}, doi = {10.1016/j.jvcir.2013.02.008}, url = {http://ais.uni-bonn.de/papers/JVCI_13_RGB-D-SLAM.pdf} }