@article{holz_2014_ras,
  author =       {Dirk Holz and Sven Behnke},
  title =        {Approximate triangulation and region growing for
                  efficient segmentation and smoothing of range images},
  journal =      {Robotics and Autonomous Systems},
  volume =       {62},
  number =       {9},
  pages =        {1282--1293},
  year =         {2014},
  issn =         {0921-8890},
  doi =          {http://dx.doi.org/10.1016/j.robot.2014.03.013},
}