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. 2012 Dec 17;12(12):17476–17496. doi: 10.3390/s121217476

Figure 4.

Figure 4.

Ground plane detection in two different scenarios: city center of Alcalá de Henares and the Atocha railway station, Madrid. (a) Captured image, Alcalá; (b) Detected plane, Alcalá; (c) Captured image, Atocha; (d) Detected plane, Atocha (Best viewed in color).