diff --git a/README.md b/README.md
index 066d63b..75a146d 100644
--- a/README.md
+++ b/README.md
@@ -6,7 +6,7 @@
     <a href="https://github.com/PRBonn/PIN_SLAM/releases"><img src="https://img.shields.io/github/v/release/PRBonn/PIN_SLAM?label=version" /></a>
     <a href="https://github.com/PRBonn/PIN_SLAM#run-pin-slam"><img src="https://img.shields.io/badge/python-3670A0?style=flat-square&logo=python&logoColor=ffdd54" /></a>
     <a href="https://github.com/PRBonn/PIN_SLAM#installation"><img src="https://img.shields.io/badge/Linux-FCC624?logo=linux&logoColor=black" /></a>
-    <a href="https://arxiv.org/pdf/2401.09101v1.pdf"><img src="https://img.shields.io/badge/Paper-pdf-<COLOR>.svg?style=flat-square" /></a>
+    <a href="https://www.ipb.uni-bonn.de/wp-content/papercite-data/pdf/pan2024tro.pdf"><img src="https://img.shields.io/badge/Paper-pdf-<COLOR>.svg?style=flat-square" /></a>
     <a href="https://github.com/PRBonn/PIN_SLAM/blob/main/LICENSE"><img src="https://img.shields.io/badge/License-MIT-blue.svg?style=flat-square" /></a>
   </p>
   
@@ -24,7 +24,7 @@
     <a href="https://www.ipb.uni-bonn.de/people/cyrill-stachniss/"><strong>Cyrill Stachniss</strong></a>
   </p>
   <p align="center"><a href="https://www.ipb.uni-bonn.de"><strong>University of Bonn</strong></a>
-  <h3 align="center"><a href="https://arxiv.org/pdf/2401.09101v1.pdf">Preprint</a> | Video</a></h3>
+  <h3 align="center"><a href="https://www.ipb.uni-bonn.de/wp-content/papercite-data/pdf/pan2024tro.pdf">Paper</a> | Video</a></h3>
   <div align="center"></div>
 </p>
 
@@ -66,6 +66,9 @@
     <li>
       <a href="#visualizer-instructions">Visualizer instructions</a>
     </li>
+    <li>
+      <a href="#citation">Citation</a>
+    </li>
     <li>
       <a href="#contact">Contact</a>
     </li>
@@ -275,7 +278,7 @@ After playing the ROS bag or launching the sensor you can then visualize the res
 rviz -d ./config/pin_slam_ros.rviz 
 ```
 
-You may use the ROS service `save_results` and `save_mesh` to save the results and mesh in the `output_root` folder.
+You may use the ROS service `save_results` and `save_mesh` to save the results and mesh (at a default resolution) in the `output_root` folder.
 
 ```
 rosservice call /pin_slam/save_results
@@ -352,6 +355,25 @@ We provide a PIN-SLAM visualizer based on [lidar-visualizer](https://github.com/
 
 </details>
 
+## Citation
+
+If you use PIN-SLAM for any academic work, please cite our original [paper](https://www.ipb.uni-bonn.de/wp-content/papercite-data/pdf/pan2024tro.pdf).
+
+```
+@article{pan2024tro,
+author = {Y. Pan and X. Zhong and L. Wiesmann and T. Posewsky and J. Behley and C. Stachniss},
+title = {{PIN-SLAM: LiDAR SLAM Using a Point-Based Implicit Neural Representation for Achieving Global Map Consistency}},
+journal = IEEE Transactions on Robotics (TRO),
+year = {2024},
+volume = {},
+number = {},
+pages = {},
+codeurl = {https://github.com/PRBonn/PIN_SLAM},
+}
+```
+
+
+
 ## Contact
 If you have any questions, please contact:
 
diff --git a/scripts/rosbag2ply.py b/scripts/rosbag2ply.py
index dc8ab0e..f99dd1f 100644
--- a/scripts/rosbag2ply.py
+++ b/scripts/rosbag2ply.py
@@ -4,12 +4,18 @@
 import os
 import argparse
 import numpy as np
+import open3d as o3d
 
 from module import ply
 
 def rosbag2ply(args):
 
     os.makedirs(args.output_folder, 0o755, exist_ok=True)
+
+    if args.output_pcd:
+        output_folder_pcd = args.output_folder+"_pcd"
+        os.makedirs(output_folder_pcd, 0o755, exist_ok=True)
+
     
     begin_flag = False
 
@@ -48,6 +54,12 @@ def rosbag2ply(args):
             else:
                 print('ply.write_ply() failed')
 
+            if args.output_pcd:
+                pcd = o3d.geometry.PointCloud()
+                pcd.points = o3d.utility.Vector3dVector(array[:, :3])
+                pcd_file_path = os.path.join(output_folder_pcd, str(t)+".pcd")
+                o3d.io.write_point_cloud(pcd_file_path, pcd)
+
 
 if __name__ == "__main__":
 
@@ -55,6 +67,7 @@ def rosbag2ply(args):
     parser.add_argument('-i','--input_bag', help="path to the input rosbag")
     parser.add_argument('-o','--output_folder', help="path for output foler")
     parser.add_argument('-t','--topic', help="name of the point cloud topic used in the rosbag", default="/hesai/pandar_points")
+    parser.add_argument('-p','--output_pcd', action='store_true', help='Also output the pcd file')
     args = parser.parse_args()
     print("usage: python3 rosbag2ply.py -i [path to input rosbag] -o [path to point cloud output folder] -t [name of point cloud rostopic]")