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Scene structure registration for localization and mapping

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Figure

Figure 1: Colored planar patches of the PbMap representation of an office environment.
Figure 2: Example of the graph representation of a PbMap, where the arcs indicate that two planes are neighbour
Figure 3: 2D representation of the map construction scheme. a) RGB-D capture with segmentated planes (blue)
Figure 4: Plane based representation of a living room. The coloured planes at the right have been extracted from the point cloud at the left.
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