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When the observed scene is described by 3D stereo segments, as discussed in the previous section, initial information about the position of the obstacles is achieved by projecting the segments and the view point on the plane on which a robot is considered to move. The segments which lie above the robot are not projected because they do not affect robot navigation. The free space map can be computed by applying geometric algorithms to the projected segments. Free space is thus detected through visibility tests, which allow to identify which triangles represent free space. A ray r from the view point to a generic point P i of the triangulation is considered. Starting from the view point all triangles intersecting r are marked, until a triangle bounded by an input segment is met. The polygon forming the border of the marked triangles represents the border between free space and the objects (obstacles) of the scene (see Figure 6.11 ). [reproduced from Buffa (1993) ]. Copyright © 1993. Figure 6.12 . Radial lower envelope of a set of segments (a); local map (b); real local map with robot encumbrance (c) The global map of the free space is a multiply connected polygon, with several internal contours (i.e., holes) and an external one, obtained by iteratively merging a current with a local map represented as a simply connected polygon. drag logo to the bookmark bar and what is the best bet in roulette collect pikbest. Copa su.➡️ Adquira o previsor: ➡️ Patrocinador oficial do canal: NOVO MÉTODO BETANO SEM RISCO DE PERDA PARA CONTAS NOVAS! **CAIU** -Mudar o IP na hora de criar e depositar na conta ⚠️.
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