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

<div>Two types of extracted B-spline surfaces according to two different types of robot movements, continuous translation and continuous rotation (different scans are plotted with different shapes of points).</div>

Mathematical Problems in Engineering

fig5

Figure 5

Figure 5: Representation of 3D Environment Map Using B-Spline Surface with Two Mutually Perpendicular LRFs 