@inproceedings{Wang2014Support,
                title={Support-plane estimation for floor detection to understand regions' spatial organization},
                author={Wang, Lei; Zhou, Zhimin; Wu, Jun; Liu, Yuncai and Zhao, Xu},
                booktitle={2014 IEEE International Conference on Robotics and Biomimetics (ROBIO 2014)},
                year={2014},
            }