@article{Whelan16ijrr,
   author = {T. Whelan and R. F. Salas-Moreno and B. Glocker and A. J. Davison and S. Leutenegger},
   title = {ElasticFusion: Real-Time Dense SLAM and Light Source Estimation},
   journal = {Intl. J. of Robotics Research, IJRR},
   year = {2016}
}