The following ROS package can be used with Kinect data to find the dominant plane. This is done using RANSAC. Two versions of the software are programmed. The parameters regarding RANSAC can be changed from the launch file. The selected plane points can then be projected on a single plane, removing some noise error.
Click here to download.
INTRO-MISSION 
I don’t usually comment but I gotta admit appreciate it for the post on this one : D.
haha.. Thanks.. 🙂