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Octomap: An efficient probabilistic 3D mapping framework based on octrees
A. Hornung, K. M. Wurm, M. Bennewitz, C. Stachniss, and W. Burgard
Autonomous Robots, 2013. In Press.

  author = {Armin Hornung and Kai M. Wurm and Maren 
Bennewitz and Cyrill
  Stachniss and Wolfram Burgard},
  title = {OctoMap: An Efficient Probabilistic {3D} Mapping 
Framework Based on
  journal = {Autonomous Robots},
  year = 2013,
  note = {In Press. Software available at