Jann Poppinga Narunas Vaskevicius Andreas Birk 0002 Kaustubh Pathak Fast plane detection and polygonalization in noisy 3D range images. 3378-3383 2008 IROS http://dx.doi.org/10.1109/IROS.2008.4650729 conf/iros/2008 db/conf/iros/iros2008.html#PoppingaVBP08