Fast and accurate plane segmentation in depth maps for indoor scenes. - Rostislav Hulik; Vítezslav Beran; Michal Spanel; Premysl Krsek; Pavel Smrz (IROS, 2012)

Continuous plane detection in point-cloud data based on 3D Hough Transform. - Rostislav Hulik; Michal Spanel; Pavel Smrz; Zdenek Materna (J. Vis. Commun. Image Represent., 2014)