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. Author manuscript; available in PMC: 2020 Mar 1.
Published in final edited form as: IEEE Trans Mob Comput. 2018 Jun 1;18(3):702–714. doi: 10.1109/TMC.2018.2842751

Fig. 14.

Fig. 14

Obstacle detection results from depth perception projection in ISANA App GUI on a mobile device. In the right side, three objects (A-person, B-chair, and C-person) are projected both horizontally and vertically from the 3D point cloud; In the left side, the objects shown in green with blue outline are the detected object results.