@article{Pomerleau2015d,
  title = {Relaxing the planar assumption: 3{D} state estimation for an autonomous surface vessel},
  journal = {International Journal of Robotics Research},
  year = {2015},
  volume = {34},
  number = {13},
  pages = {1604-1621},
  author = {Hitz, G. and Pomerleau, F. and Colas, F. and Siegwart, R.},
  project = {limnobotics, libpointmatcher}
}