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Vision-Based Plane Estimation and Following for Building In..:

Lyu, Yang ; Cao, Muqing ; Yuan, Shenghai.
IEEE Transactions on Systems, Man, and Cybernetics: Systems.  53 (2023)  12 - p. 7475-7488 , 2023
Link: https://doi.org/10.1109/tsmc.2023.3299237