@article{3d3ldeeplearned3dkeypointdetectionand,
  title = {3D3L: Deep Learned 3D Keypoint Detection and Description for LiDARs},
  author = {Dominic Streiff and Lukas Bernreiter and Florian Tschopp and Marius Fehr and Roland Siegwart},
  year = {2021},
  eprint = {2103.13808},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2103.13808v2},
}