@article{Grinvald2019volumetric, 
  author={Grinvald, Margarita and Furrer, Fadri and Novkovic, Tonci and Chung, Jen Jen and Cadena, Cesar and Siegwart, Roland and Nieto, Juan}, 
  title={Volumetric instance-aware semantic mapping and 3D object discovery},  
  journal={IEEE Robotics and Automation Letters},
  year={2019},
  pages={3037--3044},
  volume={4},
  number={3},
  doi={10.1109/LRA.2019.2923960},
  URL={http://ieeexplore.ieee.org/document/8741085}
}