@article{Xu:2017:HRC,
   author =  {Hongyi Xu and Jernej Barbi\v{c}},
   journal = {IEEE Transactions on Haptics},
   title = {6-DoF Haptic Rendering using Continuous Collision Detection Between Points and Signed Distance Fields},
    volume        = {10},
    number        = {2},
    year          = {2017},
    pages         = {151--161},
}