A comparison of line extraction algorithms using 2D range data for indoor mobile robotics.

Viet Nguyen Stefan Gächter Agostino Martinelli Nicola Tomatis Roland Siegwart A comparison of line extraction algorithms using 2D range data for indoor mobile robotics. 97-111 2007 23 Auton. Robots 2 http://dx.doi.org/10.1007/s10514-007-9034-y db/journals/arobots/arobots23.html#NguyenGMTS07