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K. Lowell and Calder, B. R., Extracting Shallow-water Bathymetry from Lidar Point Clouds Using Pulse Attribute Data: Merging Density-based and Machine Learning Approaches, Marine Geodesy, vol. 44(4) (DOI: https://doi.org/10.1080/01490419.2021.1925790). Taylor and Francis, pp. 259-286, 2021.