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@article{lingni14ras,
  author={T. Whelan and L. Ma and E. Bondarev and P. de With and J. McDonald},
  title={Incremental and Batch Planar Simplification of Dense Point Cloud Maps},
  journal={Robotics and Autonomous Systems (RAS) ECMR '13 Special Issue},
  issue_date={July 2015},
  volume={69},
  number= {C},
  month={Jul},
  year={2015},
  issn={0921-8890},
  pages={3--14},
  numpages={12},
  publisher={North-Holland Publishing Co.},
}
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