@article{labelfusionapipelineforgeneratingground,
  title = {LabelFusion: A Pipeline for Generating Ground Truth Labels for Real RGBD Data of Cluttered Scenes},
  author = {Pat Marion and Peter R. Florence and Lucas Manuelli and Russ Tedrake},
  year = {2017},
  eprint = {1707.04796},
  archivePrefix = {arXiv},
  url = {http://arxiv.org/abs/1707.04796v3},
}