@article{densepiecewiseplanarrgbdslamforindoor,
  title = {Dense Piecewise Planar RGB-D SLAM for Indoor Environments},
  author = {Phi-Hung Le and Jana Kosecka},
  year = {2017},
  eprint = {1708.00514},
  archivePrefix = {arXiv},
  url = {http://arxiv.org/abs/1708.00514v1},
}