@mastersthesis{lalonde-msthesis-06,
  author =	 "Jean-Fran\c{c}ois Lalonde",
  title =	 "Data Structure for Efficient Dynamic Processing in
                  3-D",
  school =	 "Robotics Institute, Carnegie Mellon University",
  month =	 "May",
  year =	 2006,
  address =	 "Pittsburgh, PA"
}