對[1]的matlab實現，有所改動，在計算新的點是否屬于平面時用點到平面的距離替換MSE，親測精度不變計算時間大大減少。
referenece
[1]Junhao Xiao, Jianhua Zhang and Jianwei Zhang，'Fast Plane Detection for SLAM from Noisy Range Images in Both Structured and Unstructured Environments',IEEE International Conference on Mechatronics & Automation,2011:1768-1773
