@article{fan2021three, 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}, year={2021}, publisher={IEEE} }