@InProceedings{triebel05:using,
  author = 	 {Rudolph Triebel and Wolfram Burgard and Frank Dellaert},
  title = 	 {Using Hierarchical {EM} to Extract Planes from 3D Range Scans},
  booktitle = 	 {"Proc.~of the International Conference on Robotics and Automation(ICRA)"},
  year =	 2005
}