PDF-Fig5Anexampleofextractededgepointsyellowandplanarpointsredfromli
Fig6ReprojectingpointcloudtotheendofasweepThebluecoloredlinesegmentrepresentsthepointcloudperceivedduringsweepkPkAttheendofsweepkPkisreprojectedtotimestamptk1toobtain22Pkthegreencoloredline
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