Jan Klein Jens Krokowski Matthias Fischer Michael Wand Rolf Wanka Friedhelm Meyer auf der Heide The randomized sample tree: a data structure for interactive walkthroughs in externally stored virtual environments. 137-146 2002 conf/vrst/2002 VRST http://doi.acm.org/10.1145/585740.585764 db/conf/vrst/vrst2002.html#KleinKFWWH02