O.  Gallo, Manduchi, R., and Rafii, A., ?CC-RANSAC: Fitting Planes in the Presence of Multiple Surfaces in Range Data?, Pattern Recognition Letters, vol. 32, 2010.

O.  Gallo, Manduchi, R., and Rafii, A., ?Robust curb and ramp detection for safe parking using the Canesta TOF camera?, in IEEE Workshop on Time of Flight based Computer Vision (TOF-CV), 2008.