2 added 3 characters in body

My input was a set of sparse 3D map points(landmarks) maintained by SLAM algorithm, z-axis of the world frame permanently points to the negative direction of the gravity. I wonder whether there exist any mature algorithms for extractionextracting horizontal and verticalplanes?

My input was a set of sparse map points(landmarks) maintained by SLAM algorithm, z-axis of the world frame permanently points to the negative direction of the gravity. I wonder whether there exist any mature algorithms for extraction horizontal and verticalplanes?

My input was a set of sparse 3D map points(landmarks) maintained by SLAM algorithm, z-axis of the world frame permanently points to the negative direction of the gravity. I wonder whether there exist any mature algorithms for extracting horizontal and verticalplanes?

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# Hunt for fast plane extraction algorithms from sparse map points

My input was a set of sparse map points(landmarks) maintained by SLAM algorithm, z-axis of the world frame permanently points to the negative direction of the gravity. I wonder whether there exist any mature algorithms for extraction horizontal and verticalplanes?