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@InProceedings{thrun03system,
  author = 	 {S. Thrun and D. Hähnel and D. Ferguson and M. Montemerlo and R. Triebel and W. Burgard and C. Baker and Z. Omohundro and S. Thayer and W. Whittaker},
  title = 	 {A system for volumetric robotic mapping of underground mines},
  booktitle = {Proc. of the IEEE International Conference on Robotics and Automation (ICRA)},
  year = 	 2003}
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