@article{recurrentoctomaplearningstatebasedmap,
  title = {Recurrent-OctoMap: Learning State-based Map Refinement for Long-Term Semantic Mapping with 3D-Lidar Data},
  author = {Li Sun and Zhi Yan and Anestis Zaganidis and Cheng Zhao and Tom Duckett},
  year = {2018},
  eprint = {1807.00925},
  archivePrefix = {arXiv},
  url = {http://arxiv.org/abs/1807.00925v2},
}