@article{sprague2020pointnetkl,
  title={PointNetKL: Deep Inference for GICP Covariance Estimation in Bathymetric SLAM},
  author={Sprague, Christopher Iliffe and Balmori, Ignacio Torroba and Bore, Nils and Folkesson, John},
  journal={IEEE Robotics and Automation Letters},
  year={2020},
  publisher={IEEE}
}