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. 2009 Jul 24;9(8):5894–5918. doi: 10.3390/s90805894

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© 2009 by the authors; licensee MDPI, Basel, Switzerland

This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution license (http://creativecommons.org/licenses/by/3.0/).

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Figure 1. — (a) Two laser range sensors widely used in Robotic: a LMS200 from SICK and a HOKUYO URG-04LX. (b) Natural landmarks detected and characterized in this work: breakpoints, rupture points, line and curve segments, corners and edges.