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Online Mapping-Based Navigation System for Wheeled Mobile Robot in Road Following and Roundabout

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Academic year: 2021

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Figure

Figure 1. The developed platform used for experiments.
Figure 2. Image sequence processing where no roundabout can be detected, (a) original image, (b) curbed image in a gray, (c) after edge detection algorithm, (d) final processed image, and (e) developed image for local map.
Figure 3. Image sequence processing where roundabout is detected, (a) original image, (b) curbed image in a gray value, (c) with edge detection algorithm, (d) final image, and (e) developed image for local map.
Figure 4. Laser measurements and the location of objects in its environment at the left, middle, and right side.
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