@ARTICLE{omeadhra2019ral, author={O’Meadhra, Cormac and Tabib, Wennie and Michael, Nathan}, journal={IEEE Robotics and Automation Letters}, title={Variable Resolution Occupancy Mapping Using Gaussian Mixture Models}, year={2019}, volume={4}, number={2}, pages={2015-2022}, doi={10.1109/LRA.2018.2889348}}