@article{dube2018ral, title={Incremental-Segment-Based Localization in 3-D Point Clouds}, author={R. Dub\'e and M. G. Gollub and H. Sommer and I. Gilitschenski and R. Siegwart and C. Cadena and J. Nieto}, journal={IEEE Robotics and Automation Letters}, volume={3}, number={3}, pages={1832-1839}, }