Algorithm 2: Pseudo code of the segmentation algorithm
	Input: Pxyz (points), Pfsp (feature space parameter of points), thos (distance threshold in object space)
	Output: Pid (plane segment index per point), (a, b, c, d) (plane parameter)
1	repeat
2	PSCxyz =Algorithm 1(Pxyz)
3	scpl = nspl = regression plane(PSCxyz)
4	repeat
5	$p_{\mathit{\text{newseg}}}=\{PS{C}_{\mathit{\text{xyz}}}^i:\mathit{\text{normDist}}(PS{C}_{\mathit{\text{xyz}}}^i,\mathit{\text{scpl}})<t{h}_{os}\}$
6	determine d(Pnewseg, scpl)∀Pnewseg (cf. Eq. 5)
7	$p_{\mathit{\text{newseg}}}=P_{\mathit{\text{newseg}}}\backslash \{P_{\mathit{\text{newseg}}}^i:d_i<t{h}_{fs}\}$
8	nspl (new segment plane) = regression plane(Pnewseg)
9	PSCxyz = {P: Pnewseg ∈ nspl}
10	until scpl = nspl
11	$P_{id}^i=\text{new plane id}\forall P_{\mathit{\text{xyz}}}\in P_{\mathit{\text{newseg}}}$
12	Pxyz=Pxyz \ Pnewseg
13	until new(sc) = ∅
14	if ∃ disjunct sub-segments in a segment then split segment
15	if ∃ similar and touching segments then merge segments