Research Article
3D Maps Representation Using GNG
Table 1
Number of points of each ground-truth map dataset.
| Dataset | Number of input points |
| fr1 xyz | 1049739 | fr1 desk | 1952544 | fr1 360 | 2357039 | fr1 desk2 | 2751402 | fr2 xyz | 3492032 | fr2 desk | 5841800 | fr3 long | 1636623 |
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