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. 2014 Jul 4;14(7):11805–11824. doi: 10.3390/s140711805

Figure 4.

Figure 4.

(a) The three-level strategy of likelihood value determination; (b) A greater value rule for updating the likelihood value; (c) The extracted line between two ordered points; (d) A picture of the corridor environment; and (e) The result likelihood map generated applying the line-feature-based three-level strategy.