@article {11573/817327, title = {{Plane extraction for indoor place recognition}}, volume = {{9386}}, number = {{False}}, year = {2015}, pages = {530-540}, keywords = {{Plane extraction}}, doi = {{10.1007/978-3-319-25903-1\_46}}, author = {Potena, Ciro and Pretto, Alberto and Bloisi, Domenico Daniele and Nardi, Daniele} }