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

Figure 22

Path estimation of the (a) Route 1, (b) Route 4, (c) Route 6, and (d) Route 8 of the Area 1 and path estimation of the (e) Route 1, (f) Route 2, (g) Route 3, and (h) Route 4 of Area 2.

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