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Journal of Sensors
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2013
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Article
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Fig 6
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Research Article
Feasibility Investigation of Obstacle-Avoiding Sensors Unit without Image Processing
Figure 6
How to classify slopes, steps, and trenches. Mathematical algorithms are shown.
(a)
Flat floor
(b)
Downward step
(c)
Upward step
(d)
Trench
(e)
Downward slope
(f)
Upward slope