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This paper presents a new RANSAC based method for extracting planes from 3D range data. The generic RANSAC Plane Extranction (PE) method may over-extract a plane. It may fail in the case of a multi-step scene where the RANSAC process results in multiple inlier patches that form a slant plane straddling the steps. The CC-RANSAC algorithm overcomes the latter limitation if the inlier patches are separate...
Previous works in the power systems and control literature have observed the close tie between the quasi-potential function that appears in stochastic exit problems and a Lyapunov function for an underlying deterministic model associated with the stochastic system [3], [6], [7]. Given that the quasi-potential is obtained as the solution to a nonlinear optimal control problem, this raises the question...
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