Journal of Robotics / 2011 / Article / Fig 4

Research Article

People Detection Based on Spatial Mapping of Friendliness and Floor Boundary Points for a Mobile Navigation Robot

Figure 4

The example of classification process by using floor boundary points. Triangles are tracked from the left image to the right image. Circles are tracked from the right image to the left image. The robot moves by 20 cm.
683975.fig.004

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