@INPROCEEDINGS{Einhorn-IWK-2010,
  author = {Einhorn, Erik and Schroeter, {\relax Ch}ristof and Gross, Horst-Michael},
  title = {Building {2D} and {3D} Adaptive-Resolution Occupancy Maps Using {ND}-Trees},
  booktitle = {Int. Scientific Colloquium Ilmenau (IWK)},
  year = {2010},
  pages = {306--311},
  publisher = {ISLE Verlag}
}