The following publications are possibly variants of this publication:
- Fast 3D mapping in highly dynamic environments using normal distributions transform occupancy mapsJari Saarinen, Todor Stoyanov, Henrik Andreasson, Achim J. Lilienthal. iros 2013: 4694-4701 [doi]
- Semantic-assisted 3D normal distributions transform for scan registration in environments with limited structureAnestis Zaganidis, Martin Magnusson 0002, Tom Duckett, Grzegorz Cielniak. iros 2017: 4064-4069 [doi]
- 3D normal distributions transform occupancy maps: An efficient representation for mapping in dynamic environmentsJari Saarinen, Henrik Andreasson, Todor Stoyanov, Achim J. Lilienthal. ijrr, 32(14):1627-1644, 2013. [doi]