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A new, efficient data structure and corresponding algorithms are proposed that significantly improve the speed of the range search operation and that are suitable for on-line operation where data is accumulated dynamically. The method relies on taking advantage of overlapping neighborhoods and the reuse of previously computed data as the algorithm scans each data point. To demonstrate the dynamic capabilities of the data structure, data obtained from a laser radar mounted on a ground mobile robot operating in complex, outdoor environments is used. It is shown that this approach considerably improves the speed of an established 3-D perception processing algorithm. <\/jats:p>","DOI":"10.1177\/0278364907079265","type":"journal-article","created":{"date-parts":[[2007,7,20]],"date-time":"2007-07-20T10:32:56Z","timestamp":1184927576000},"page":"777-796","source":"Crossref","is-referenced-by-count":13,"title":["Data Structures for Efficient Dynamic Processing in 3-D"],"prefix":"10.1177","volume":"26","author":[{"given":"Jean-Fran\u00e7ois","family":"Lalonde","sequence":"first","affiliation":[{"name":"Carnegie Mellon University The Robotics Institute - Newell Simon Hall 5000 Forbes Avenue Pittsburgh, 15213, PA, USA, {jlalonde, vandapel, hebert}@ri.cmu.edu"}]},{"given":"Nicolas","family":"Vandapel","sequence":"additional","affiliation":[{"name":"Carnegie Mellon University The Robotics Institute - Newell Simon Hall 5000 Forbes Avenue Pittsburgh, 15213, PA, USA, {jlalonde, vandapel, hebert}@ri.cmu.edu"}]},{"given":"Martial","family":"Hebert","sequence":"additional","affiliation":[{"name":"Carnegie Mellon University The Robotics Institute - Newell Simon Hall 5000 Forbes Avenue Pittsburgh, 15213, PA, USA, {jlalonde, vandapel, hebert}@ri.cmu.edu"}]}],"member":"179","published-online":{"date-parts":[[2007,8,1]]},"reference":[{"volume-title":"Proceedings of the IEEE International Symposium on Intelligent Control","author":"Albus, J.","key":"atypb1"},{"issue":"3","key":"atypb2","doi-asserted-by":"crossref","first-page":"135","DOI":"10.1016\/S0925-7721(00)00022-5","volume":"17","author":"Arya, S.","year":"2000","journal-title":"Computational Geometry"},{"volume-title":"Proceedings of the 2nd International Symposium on 3D Data Processing, Visualization, and Transmission","author":"Bodenmueller, T.","key":"atypb3"},{"key":"atypb4","doi-asserted-by":"publisher","DOI":"10.1117\/12.486843"},{"key":"atypb5","doi-asserted-by":"crossref","unstructured":"Burges, C. 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