@article{realtimemultiadaptiveresolutionsurfel6d,
  title = {Real-time Multi-Adaptive-Resolution-Surfel 6D LiDAR Odometry using Continuous-time Trajectory Optimization},
  author = {Jan Quenzel and Sven Behnke},
  year = {2021},
  eprint = {2105.02010},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2105.02010v2},
}