@article{probabilisticrgbdodometrybasedonpoints,
  title = {Probabilistic RGB-D Odometry based on Points, Lines and Planes Under Depth Uncertainty},
  author = {Pedro F. Proenca and Yang Gao},
  year = {2017},
  eprint = {1706.04034},
  archivePrefix = {arXiv},
  url = {http://arxiv.org/abs/1706.04034v3},
}