Object Modeling and Recognition from Sparse, Noisy Data via Voxel Depth Carving. Klingensmith, M., Herrmann, M., & Srinivasa, S. In International Symposium on Experimental Robotics, 2014.
bibtex   
@inproceedings{klingensmith2014carving,
  title = {Object Modeling and Recognition from Sparse, Noisy Data via Voxel Depth Carving},
  author = {Klingensmith, M. and Herrmann, M. and Srinivasa, S.S.},
  booktitle = iser,
  year = {2014}
}

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