Trabes E, Avila L, Dondo Gazzano J, Sosa Páez C. Dense monocular Simultaneous Localization and Mapping by direct surfel optimization. JART [Internet]. 2021 Dec. 31 [cited 2024 May 3];19(6):644-52. Available from: https://jart.icat.unam.mx/index.php/jart/article/view/991