Octree-based hierarchical distance maps for collision detection - Derek Jung; Kamal K. Gupta (J. Field Robotics, 1997)

Octree-based hierarchical distance maps for collision detection - Derek Jung; Kamal K. Gupta (Proceedings of the 1996 IEEE International Conference on Robotics and Automation, Minneapolis, Minnesota, USA, April 22-28, 1996, 1996)