Rapid 3D Modeling and Parts Recognition on Automotive Vehicles Using a Network of RGB-D Sensors for Robot Guidance

Figure 17

2D representation of a 3D point cloud; the 𝑧-coordinate of each point was removed. The solid dot is a vertex 𝑖 shared by the triangles (𝑖,𝑒,𝑠) and (𝑖,𝑤,𝑛).