Representation of 3D Environment Map Using B-Spline Surface with Two Mutually Perpendicular LRFs

Figure 13

Example of raw sensor data (column 1) and their uncertainty ellipsoid (column 2) with the continuous translation of mobile robot. Extracted B-spline curves () in direction with the control points (column 3) and the ellipsoid of propagated uncertainty from the raw sensor data (column 4). Extracted B-spline curves () in direction with the control points (column 5) and the ellipsoid of propagated from the control points in direction (column 6). These three types of uncertainty ellipsoid are plotted with the ratio of 50 : 1, 100 : 1, and 100 : 1 with respect to their corresponding real sizes.

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