@article{article, title  = {{A fast Manhattan frame estimation method based on normal vectors}},

 publisher = {{Wiley}},

 url = {{https://eprints.whiterose.ac.uk/id/eprint/183320 }},

 year = {{2022}},

 month = {{2}},

 author = {{Zhang Y and Ding Y and Song J and Li J and Wei H-L}},

 doi = {{10.1002/rob.22064}},

 volume = {{39}},

 journal = {{Journal of Field Robotics}},

 issue = {{5}},

 pages = {{557-579}},

 note = {{Accessed on 2025/10/31}}}