Global Appearance Applied to Visual Map Building and Path Estimation Using Multiscale Analysis
Figure 14
(a) Node image, () zoom-in of the node image (a), and (b) route image located infront of the node image (a). (c) Route image, () zoom-in of the route image (c), and (d) nearest node image of (c) located in front of that image. and are topological distances between a route image and the nearest node, and is the topological distance between nodes.
