Wai Yan So, E., Basso, F., & Menegatti, E. (2013). Calibration of a Rorating 2D Laser Range-Finder Using Point-Plane Coistraints. Journal of Automation, Mobile Robotics and Intelligent Systems, 7(2), 30-39. https://www.jamris.org/index.php/JAMRIS/article/view/261