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@INPROCEEDINGS{lingni13ecmr, 
  author={L. Ma and T. Whelan and E. Bondarev and P. H. N. de With and J. McDonald}, 
  booktitle={Mobile Robots (ECMR), 2013 European Conference on}, 
  title={Planar simplification and texturing of dense point cloud maps}, 
  year={2013}, 
  pages={164-171}, 
  doi={10.1109/ECMR.2013.6698837}, 
  month={Sept},
}
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