A System for Volumetric Robotic Mapping of Abandoned Mines Sebastian Thruny, Dirk H¨ahnelyz, David Fergusony, Michael Montemerloy, Rudolph Triebely, Wolfram Burgardz, Christopher Bakery, Zachary Omohundroy, Scott Thayery, William Whittakery

thrun.mine-mapping.pdf

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