@Article{	  schaefer17ral,
  author	= {Alexander Schaefer* and Lukas Luft* and Wolfram Burgard},
  title		= {An Analytical Lidar Sensor Model Based on Ray Path
		  Information},
  journal	= {IEEE Robotics and Automation Letters (RA-L)},
  volume	= {2},
  number	= {3},
  pages		= {1405-1412},
  year		= {2017},
  doi		= {10.1109/LRA.2017.2669376},
  issn		= {2377-3766},
  month		= {July},
  url		= {http://ais.informatik.uni-freiburg.de/publications/papers/schaefer17ral.pdf}
}