BibTex:

@article{fan2021-3f2n,

  title={Three-filters-to-normal: an accurate and ultrafast surface normal estimator},

  author={Fan, Rui and Wang, Hengli and Xue, Bohuan and Huang, Huaiyang and Wang, Yuan and Liu, Ming and Pitas, Ioannis},

  journal={IEEE Robotics and Automation Letters (RA-L)},

  doi={10.1109/LRA.2021.3067308},

  year={2021}

}