António J. R. Neves and  Rui Garcia and  Paulo Dias and  Alina Trifan,  Object Detection Based on Plane Segmentation and Features Matching for a Service Robot.   journal   = {International Journal of Computer and Information Engineering}, [online]. World Academy of Science, Engineering and Technology.
    March 2016, vol. 112(4). 775 - 782
    [viewed 13 April 2021]. Available from: https://publications.waset.org/pdf/10004286.