@article{tdigumarti2018ral,
  title={{Automatic Segmentation of Tree Structure From Point Cloud Data}},
  author={S.T. Digumarti and J. Nieto and C. Cadena and R. Siegwart and P. Beardsley},
journal={IEEE Robotics and Automation Letters},
volume={3},
number={4},
pages={3043-3050}, 
}