@ARTICLE{srivastava2019tro,
  author={Srivastava, Shobhit and Michael, Nathan},
  journal={IEEE Transactions on Robotics},
  title={Efficient, Multifidelity Perceptual Representations via Hierarchical Gaussian Mixture Models},
  year={2019},
  volume={35},
  number={1},
  pages={248-260},
  doi={10.1109/TRO.2018.2878363}
}