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

Figure 15

Error between the raw sensor data in each 2D scan from the vertical LRF and the extracted B-spline surfaces with different degrees: (, ) (a), (, ) (b), and (, ) (c). The average errors between all the sensor data and these extracted B-spline surfaces are plotted with red dashed line.

(a)

(b)

(c)