Planar Segmentation of RGBD Images using Fast Linear Fitting and Markov Chain Monte Carlo. Erdogan, C., Paluri, M., & Dellaert, F. In 2012.
Planar Segmentation of RGBD Images using Fast Linear Fitting and Markov Chain Monte Carlo [pdf]Paper  bibtex   
@inproceedings{can_erdogan_planar_2012,
	title = {Planar {Segmentation} of {RGBD} {Images} using {Fast} {Linear} {Fitting} and {Markov} {Chain} {Monte} {Carlo}},
	url = {https://www.cc.gatech.edu/~dellaert/pubs/Erdogan12crv.pdf},
	language = {eng},
	author = {Can Erdogan and Manohar Paluri and Frank Dellaert},
	year = {2012}
}
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