Geodesic
Sub-Riemannian balls on the heisenberg groups: an invariant volume
Contemporary Mathematics. Fundamental Directions, Proceedings of the International Conference on Mathematical Control Theory and Mechanics (Suzdal, July 3–7, 2009), Tome 42 (2011), pp. 199-203

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The Popp measure of a sub-Riemannian ball is calculated for a left-invariant sub-Riemannian structure on the Heisenberg group. 
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     author = {E. F. Sachkova},
     title = {Sub-Riemannian balls on the heisenberg groups: an invariant volume},
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     volume = {42},
     year = {2011},
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     url = {http://geodesic.mathdoc.fr/item/CMFD_2011_42_a18/}
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E. F. Sachkova. Sub-Riemannian balls on the heisenberg groups: an invariant volume. Contemporary Mathematics. Fundamental Directions, Proceedings of the International Conference on Mathematical Control Theory and Mechanics (Suzdal, July 3–7, 2009), Tome 42 (2011), pp. 199-203. http://geodesic.mathdoc.fr/item/CMFD_2011_42_a18/