@article{Whelan14ras,
   author = {T. Whelan and L. Ma and E. Bondarev and P. H. N. de With and
	J.B. McDonald},
   title = {Incremental and Batch Planar Simplification of Dense Point Cloud Maps},
   journal = {Robotics and Autonomous Systems (RAS) ECMR '13 Special Issue},
   year = {2014}
}