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Visual Path Detection for Mobile Robot Navigation

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Figure

Figure 1 (a) : Typical RGB camera sensors—Sony DXC930 camera. (b): Theoretical narrow- narrow-band RGB camera sensors.
Figure 2 (a) The set of 6 patches under different Planckian lights. (b) Log-chromaticity plot of image (a)
Figure 4 The plane on which components
Figure 5 Intuition for finding best direction via minimizing the entropy. (a): Log-ratio feature space values for paint patches fall along parallel lines, as lighting is changed
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