@ARTICLE{goel2023incremental,
  author={Goel, Kshitij and Tabib, Wennie},
  journal={IEEE Robotics and Automation Letters}, 
  title={Incremental Multimodal Surface Mapping via Self-Organizing Gaussian Mixture Models}, 
  year={2023},
  volume={},
  number={},
  pages={1-8},
  doi={10.1109/LRA.2023.3327670}
}