Extraction of Geometrical Features in 3D Environments for Service Robotics Applications

I am sorry there are a few typos in the Equations in the paper, these are the corrected versions:

- After Eq. 4, x = (M^TM)^-1MB

- After Eq. 6, R2 = (b²+c²)x₀² + (a²+c²)y₀² + (a²+b²)z₀² - 2bcy₀z₀ -2acx₀z₀-2abx₀y₀ - J

The equations can be found here, which was not added as a reference mainly because of the lack of authors, and also because of the generic mathematical contents.