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. 2017 Jan 27;17(2):243. doi: 10.3390/s17020243

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© 2017 by the authors.

Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (http://creativecommons.org/licenses/by/4.0/).

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Plane fitting test, visual procedure. (Blue) 3D points of a wall. (Green) plane computed with RANSAC that best fit with the acquired points. The augmented part shows the point to plane orthogonal distances used to carry out this test.