@InProceedings{lalonde-rss-05,
  author =	 {Jean-Fran\c{c}ois Lalonde and Nicolas Vandapel and
                  Martial Hebert},
  title =	 {Data Structure for Efficient Processing in 3-D},
  booktitle =	 {Robotics: Science and Systems},
  year =	 2005,
  month =	 {June}
}