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Object Search and Localization for an Indoor Mobile Robot

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Figure

Figure 1. Example of distribution of objects in a room. Stars represent nodes, and circles, the actual positions of
Figure 2 shows an example of two potential views of a set of cells that, in this case, originate from a wall
Figure 3 presents the object search procedure as a whole. Starting with an image at 1 × magnification, each object is processed  inde-pendently, whereupon the resulting zoom  win-dows are merged and each gives rise to a new,
Figure 5. Distance estimation provided by the laser may not be reliable: instead of the distance to the object on
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