Irina Lavva Eyal Hameiri Ilan Shimshoni Robust Methods for Geometric Primitive Recovery and Estimation From Range Images. 826-845 2008 38 IEEE Transactions on Systems, Man, and Cybernetics, Part B 3 http://dx.doi.org/10.1109/TSMCB.2008.918567 db/journals/tsmc/tsmcb38.html#LavvaHS08