• Using Hierarchical EM to Extract Planes from 3D Range Scans 

      Triebel, Rudolph; Burgard, Wolfram; Dellaert, Frank (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2005-04)
      Recently, the acquisition of three-dimensional maps has become more and more popular. This is motivated by the fact that robots act in the three-dimensional world and several tasks such as path planning or localizing ...