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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. 3.

Fig. 3

RANSAC plane-fitting on a stairway scene: h—stairway height, AB—height of stair riser, BC—depth of stair tread, δ—distance threshold for plane-fitting. Each of them is measured in term of number of data points. α—stairway slope.