Gradient Depth Map Based Ground Plane Detection for Mobile Robot Applications. - Dang Khanh Hoa; Pham The Cuong; Tien Dzung Nguyen (ACIIDS (1), 2016)

An Effective Randomized Hough Transform Method to Extract Ground Plane from Kinect Point Cloud. - Dang Khanh Hoa; Van Son Nguyen; Anh Do; Tien Dzung Nguyen (ICTC, 2019)