Global Appearance Applied to Visual Map Building and Path Estimation Using Multiscale Analysis

<table>(a) Image captured in a route, (b) image captured in front of image (a), and (<svg height="17.9125" id="M41" style="vertical-align:-0.12538pt" version="1.1" viewbox="0 0 11.7375 17.9125" width="11.7375" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink">
<g transform="matrix(.017,-0,0,-.017,.062,17.65)"><path d="M433 39l-85 -51q-27 0 -47 20q-16 16 -24 44q-5 -3 -24 -16.5t-27 -18.5t-23 -13.5t-25 -12t-19 -3.5q-52 0 -86 36.5t-34 85.5q0 71 81 99q128 43 155 65v17q0 54 -23 83.5t-62 29.5q-28 0 -45 -19t-29 -66q-7 -23 -29 -23q-15 0 -29 13t-14 30t31 40q25 19 68.5 40.5
t81.5 29.5q49 0 82 -27q45 -39 45 -123v-185q0 -60 35 -60q18 0 36 11zM275 84v156q-12 -6 -49 -23t-41 -19q-31 -14 -46 -31t-15 -43q0 -35 22.5 -55.5t48.5 -20.5q19 0 42 10.5t38 25.5z" id="x61"></path></g>
<g transform="matrix(.012,-0,0,-.012,7.525,9.488)"><path d="M227 744l-123 -338l-31 15l73 368q12 3 41.5 -8t36.5 -20z" id="x2032"></path></g>
</svg>) zoom-in of image (a).</table>

Mathematical Problems in Engineering

fig11

Figure 11

Figure 11: Global Appearance Applied to Visual Map Building and Path Estimation Using Multiscale Analysis 