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

Figure 17

Raw sensor data of the data set with the robot movements of continuous rotation (red points in row 1, column 1) and raw sensor data of the data set with the robot movements of continuous translation (blue points in row 1, column 1). Overlapping parts of these two data sets also can be seen in the top view (row 1, column 2). Extracted B-spline surfaces from these two data sets are shown in row 2, column 1, and row 2, column 2, respectively.

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