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H$_{2}$-Mapping: Real-Time Dense Mapping Using Hierarchical..:

Jiang, Chenxing ; Zhang, Hanwen ; Liu, Peize...
IEEE Robotics and Automation Letters.  8 (2023)  10 - p. 6787-6794 , 2023
Link: https://doi.org/10.1109/lra.2023.3313051