@article{dong2018hope,
  title={HoPE: Horizontal plane extractor for cluttered 3D scenes},
  author={Dong, Zhipeng and Gao, Yi and Zhang, Jinfeng and Yan, Yunhui and Wang, Xin and Chen, Fei},
  journal={Sensors},
  volume={18},
  number={10},
  pages={3214},
  year={2018},
  publisher={MDPI}
}