J. P. Baudry, E. A. Raftery, G. Celeux, K. Lo, and R. Gottardo, Combining Mixture Components for Clustering, Journal of Computational and Graphical Statistics, vol.19, issue.2, pp.332-352, 2010.
DOI : 10.1198/jcgs.2010.08111

URL : https://hal.archives-ouvertes.fr/inria-00321090

A. Deleforge, F. Forbes, and R. Horaud, High-dimensional regression with gaussian mixtures and partially-latent response variables, Statistics and Computing, vol.19, issue.11, pp.893-911, 2015.
DOI : 10.1109/TNN.2008.2003467

URL : https://hal.archives-ouvertes.fr/hal-01107604

B. Enjarini and A. Gräser, Planar segmentation from depth images using gradient of depth feature, 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.4668-4674, 2012.
DOI : 10.1109/IROS.2012.6385521

F. Etayo, L. Gonzalez-vega, and N. Del-rio, A new approach to characterizing the relative position of two ellipses depending on one parameter, Computer Aided Geometric Design, vol.23, issue.4, pp.324-350, 2006.
DOI : 10.1016/j.cagd.2006.01.002

G. D. Evangelidis and R. Horaud, Joint Alignment of Multiple Point Sets with Batch and Incremental Expectation-Maximization, IEEE Transactions on Pattern Analysis and Machine Intelligence, 2017.
DOI : 10.1109/TPAMI.2017.2717829

URL : https://hal.archives-ouvertes.fr/hal-01413414

C. Feng, Y. Taguchi, and V. R. Kamat, Fast plane extraction in organized point clouds using agglomerative hierarchical clustering, 2014 IEEE International Conference on Robotics and Automation (ICRA), pp.6218-6225, 2014.
DOI : 10.1109/ICRA.2014.6907776

M. A. Figueiredo and A. K. Jain, Unsupervised learning of finite mixture models, IEEE Transactions on Pattern Analysis and Machine Intelligence, vol.24, issue.3, pp.381-396, 2002.
DOI : 10.1109/34.990138

A. Galimzianova, F. Pernu?, B. Likar, and ?. Z. Spiclin, Robust Estimation of Unbalanced Mixture Models on Samples with Outliers, IEEE Transactions on Pattern Analysis and Machine Intelligence, vol.37, issue.11, pp.2273-2285, 2015.
DOI : 10.1109/TPAMI.2015.2404835

O. Gallo, R. Manduchi, and A. Rafii, CC-RANSAC: Fitting planes in the presence of multiple surfaces in range data, Pattern Recognition Letters, vol.32, issue.3, pp.403-410, 2011.
DOI : 10.1016/j.patrec.2010.10.009

P. F. Gotardo, O. R. Bellon, and L. Silva, Range image segmentation by surface extraction using an improved robust estimator, 2003 IEEE Computer Society Conference on Computer Vision and Pattern Recognition, 2003. Proceedings., 2003.
DOI : 10.1109/CVPR.2003.1211449

C. Hennig, Methods for merging Gaussian mixture components Advances in Data Analysis and Classification, pp.3-34, 2010.

D. Holz and S. Behnke, Fast Range Image Segmentation and Smoothing Using Approximate Surface Reconstruction and Region Growing, pp.61-73, 2012.
DOI : 10.1007/978-3-642-33932-5_7

D. Holz, S. Holzer, R. B. Rusu, and S. Behnke, Realtime plane segmentation using RGB-D cameras, pp.306-317, 2011.

A. Hoover, G. Jean-baptiste, X. Jiang, P. J. Flynn, H. Bunke et al., An experimental comparison of range image segmentation algorithms, IEEE Transactions on Pattern Analysis and Machine Intelligence, vol.18, issue.7, pp.673-689, 1996.
DOI : 10.1109/34.506791

R. Hulik, V. Beran, M. Spanel, P. Krsek, and P. Smrz, Fast and accurate plane segmentation in depth maps for indoor scenes, 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.1665-1670, 2012.
DOI : 10.1109/IROS.2012.6385868

Y. Liu, R. Emery, D. Chakrabarti, W. Burgard, and S. Thrun, Using EM to learn 3D models of indoor environments with mobile robots, International Conference on Machine Learning, pp.329-336, 2001.

V. Melnykov, Merging Mixture Components for Clustering Through Pairwise Overlap, Journal of Computational and Graphical Statistics, vol.1, issue.1, pp.66-90, 2016.
DOI : 10.1080/01621459.1963.10500845

B. Oehler, J. Stueckler, J. Welle, D. Schulz, and S. Behnke, Efficient Multi-resolution Plane Segmentation of 3D Point Clouds, International Conference on Intelligent Robotics and Applications, pp.145-156, 2011.
DOI : 10.1016/0734-189X(89)90069-8

T. T. Pham, M. Eich, I. Reid, and G. Wyeth, Geometrically consistent plane extraction for dense indoor 3D maps segmentation, 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp.4199-4204, 2016.
DOI : 10.1109/IROS.2016.7759618

V. Pradeep, C. Rhemann, S. Izadi, C. Zach, M. Bleyer et al., MonoFusion: Real-time 3D reconstruction of small scenes with a single web camera, 2013 IEEE International Symposium on Mixed and Augmented Reality (ISMAR), pp.83-88, 2013.
DOI : 10.1109/ISMAR.2013.6671767

X. Qian and C. Ye, NCC-RANSAC: A Fast Plane Extraction Method for 3-D Range Data Segmentation, IEEE Transactions on Cybernetics, vol.44, issue.12, pp.2771-2783, 2014.
DOI : 10.1109/TCYB.2014.2316282