@ARTICLE{Einhorn-RAS-2015,
  author = {Einhorn, Erik and Gross, Horst-Michael},
  title = {Generic {NDT} Mapping in Dynamic Environments and its Application
    for Lifelong {SLAM}},
  journal = {Robotics and Autonomous Systems (RAS)},
  year = {2015},
  volume = {69},
  pages = {28--39}
}