How do you parse the Subject Alternate Names from an X509Certificate2?

Is there an easy way to get the Subject Alternate Names from an X509Certificate2 object?

foreach (X509Extension ext in certificate.Extensions)
        {
            if (ext.Oid.Value.Equals(/* SAN OID */"2.5.29.17"))
            {
                byte[] raw = ext.RawData;
                // ?????? parse to get type and name ????????
            }
        }