Fortunately plane finding is pretty easy even with something as simple as RANSAC[0]. I'm sure there are better algorithms now but ransac has been around forever

Fortunately plane finding is pretty easy even with something as simple as RANSAC[0]. I'm sure there are better algorithms now but ransac has been around forever and is nearly trivial to implement. It just doesn't easily generalize to "Siri, find my car" [0]https://en.wikipedia.org/wiki/Random_sample_consensus https://en.wikipedia.org/wiki/Random_sample_consensus