@inproceedings{VaSuMu13,
  author={I. Vasquez and L. E. Sucar and R. Murrieta-Cid},
  title={Hierarchical Ray Tracing For Fast Volumetric Next-Best-View Planning},
  booktitle={Proc. International Conference on Computer and Robot Vision (CRV 2013)},
  pages={181--187},
  year={2013}}