@InProceedings{ holz_2011_robocup, 
  author = {Dirk Holz and Stefan Holzer and Radu Bogdan Rusu and Sven Behnke},
  title = {{Real-Time Plane Segmentation using RGB-D Cameras}},
  booktitle = {Proceedings of the 15th RoboCup International Symposium},
  year = {2011},
  month = {July},
  address = {Istanbul, Turkey},
  pages     = {307--317},
  publisher = {Springer},
  series    = {Lecture Notes in Computer Science},
  volume    = {7416}
}