@article{renderingandtrackingthedirectionaltsdf,
  title = {Rendering and Tracking the Directional TSDF: Modeling Surface Orientation for Coherent Maps},
  author = {Malte Splietker and Sven Behnke},
  year = {2021},
  eprint = {2108.08115},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2108.08115v1},
}