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Leaving Flatland: Efficient Real-Time 3D Perception and Motion Planning Rusu, Radu Bogdan., Sundaresan, Aravind., Morisset, Benoit., Hauser, Kris., Agrawal, Motilal., Latombe, Jean-Claude., and Beetz, Michael Journal of Field Robotics (Special Issue on 3D Mapping), (2009) Abstract
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