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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. 7.

Fig. 7

Indoor semantic map and ADF map alignment using SVD [35]. The left part is the semantic map with geometric layers and the control points, which are arbitrarily selected and are shown as the red starts. The right part shows the ADF features in a keyframe.