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. Author manuscript; available in PMC: 2014 Apr 14.
Published in final edited form as: IEEE Trans Robot. 2013 Feb 1;29(1):15–31. doi: 10.1109/TRO.2012.2226382

Fig. 3.

Fig. 3

(a) Basic structure of a single segment enclosed by two adjacent contours. (b) Portion of cross-sectional region extracted. Four regions to which the points [x0, x1, x2, x3] belong yield different distance calculations.