WIETRZYKOWSKI, Jan. On the Representation of Planes for Efficient Graph-based SLAM with High-level Features. Journal of Automation, Mobile Robotics and Intelligent Systems, [S. l.], v. 10, n. 3, p. 3–11, 2016. DOI: 10.14313/JAMRIS_3-2016/18. Disponível em: https://jamris.d.tomp.pl/index.php/JAMRIS/article/view/386. Acesso em: 16 may. 2025.