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. Author manuscript; available in PMC: 2015 Jul 22.
Published in final edited form as: IEEE Trans Cybern. 2014 Apr 22;44(12):2771–2783. doi: 10.1109/TCYB.2014.2316282

Fig. 17.

Fig. 17

Segmentation results of the three methods with SR4000 data (stitched range data): scene 5. The over-extractions (tails) of the CORG may have negative impact on pattern recognition if the shortest distance between the points in two planar segments is used to describe the intersegment relationship. The RPCA-based method failed at the indistinct edges. (a) Intensity image. (b) NCC-RANSAC. (c) CORG. (d) RPCA hybrid.