Hadi Moradi Eun Kwon Dae Neung Sohn JungHyun Han A Real-Time GPU-Based Wall Detection Algorithm for Mapping and Navigation in Indoor Environments. 1072-1077 2007 conf/hci/2007-9 HCI (9) http://dx.doi.org/10.1007/978-3-540-73354-6_117 db/conf/hci/hci2007-9.html#MoradiKSH07