@InProceedings{	  schaefer19icra,
  author	= {Alexander Schaefer and Johan Vertens and Daniel
		  B{\"u}scher and Wolfram Burgard},
  booktitle	= {IEEE International Conference on Robotics and Automation
		  (ICRA)},
  title		= {A Maximum Likelihood Approach to Extract Finite Planes
		  from 3-{D} Laser Scans},
  year		= {2019},
  month		= {May},
  pages		= {72-78},
  doi		= {10.1109/ICRA.2019.8794318},
  url		= {http://ais.informatik.uni-freiburg.de/publications/papers/schaefer19icra.pdf}
}