@InProceedings{wurm_2011_iros,
  author = {Kai M. Wurm and Daniel Hennes and Dirk Holz and Radu B. Rusu and Cyrill Stachniss and Kurt Konolige and Wolfram Burgard},
  title = {Hierarchies of Octrees for Efficient 3D Mapping},
  booktitle = {Proc.~of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  month = sep,
  year = 2011,
  address = {San Francisco, CA, USA},
  pags = {4249--4255},
}