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@INPROCEEDINGS{wurm2010octomap,
  author = {Wurm, Kai M and Hornung, Armin and Bennewitz, Maren and Stachniss,
	Cyrill and Burgard, Wolfram},
  title = {OctoMap: A probabilistic, flexible, and compact {3D} map representation
	for robotic systems},
  booktitle = {Proc. of the ICRA 2010 workshop on best practice in 3D perception
	and modeling for mobile manipulation},
  year = {2010}
}

