@inproceedings{ahmadi17rss,
  author    = {Amir Ali Ahmadi and Georgina Hall and Ameesh Makadia and Vikas Sindhwani},
  title     = {Geometry of {3D} Environments and Sum of Squares Polynomials},
  booktitle = {Robotics: Science and Systems XIII},
  year      = {2017},
}