@article{normaltransformerextractingsurface,
  title = {Normal Transformer: Extracting Surface Geometry from LiDAR Points Enhanced by Visual Semantics},
  author = {Ancheng Lin and Jun Li},
  year = {2022},
  eprint = {2211.10580},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2211.10580v2},
}