@INPROCEEDINGS{Martin-ICRA-2002,
author = {Martin, {\relax Ch}ristian and Thrun, Sebastian},
title = {Real-Time Acquisition of Compact Volumetric Maps with Mobile Robots},
booktitle = {IEEE Int. Conf. on Robotics and Automation (ICRA)},
year = {2002},
pages = {311--316},
publisher = {IEEE}
}