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Modeling the World Around Us :: An Efficient 3D Representation for Personal Robotics Burgard, Wolfram., Wurm, Kai., Bennewitz, Maren., Stachniss, Cyril., Hornung, Armin., Rusu, Radu Bogdan., and Konolige, Kurt Workshop on Defining and Solving Realistic Perception Problems in Personal Robotics at the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), October 8, 2010, Taipei, Taiwan, (2010)