“…The importance of the application domain has generated significant effort and techniques, benefitting many research areas, for example, planetary exploration [5,6], indoor [7] and outdoor [8] navigation, ground plane detection [9,10], scene segmentation [11], industrial automation [12], localization of the environment [13], collision free maneuverability in dynamic and urban environments [14,15] to name just a few examples. The task of navigation in industry has classically been approached by either (a) directly detecting and avoiding obstacles [16,17] or (b) estimating the dominant planar feature (ground plane) and segmenting hazardous features from the detected ground plane [9,13,18].…”