Wietrzykowski, Jan. “On the Representation of Planes for Efficient Graph-Based SLAM With High-Level Features”. Journal of Automation, Mobile Robotics and Intelligent Systems 10, no. 3 (September 30, 2016): 3–11. Accessed May 15, 2025. https://jamris.d.tomp.pl/index.php/JAMRIS/article/view/386.