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Map Building and SLAM Algorithms 363

(c) t=48.492sec
3
2.5

2

1.5
1 y x
P2 S4 S6
0.5 y x x
B1
y R2
0 x y y x
– 0.5
y y
– 1 P1 S5
S3
x x
– 1.5 x y

– 2
– 2 – 1.5 – 1 – 0.5 0 0.5 1 1.5 2 2.5 3 3.5

(d) t=48.492sec
3
2.5

2
1.5

1 y
x
P2 S4
0.5 y x
B1
y R2
0 x y x
– 0.5
y
– 1
P1 S3
x
– 1.5 x y
– 2
– 2 – 1.5 – 1 – 0.5 0 0.5 1 1.5 2 2.5 3 3.5

FIGURE 9.9 Continued.

© 2006 by Taylor & Francis Group, LLC

FRANKL: “dk6033_c009” — 2006/3/31 — 16:43 — page 363 — #33