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. Author manuscript; available in PMC: 2019 Oct 30.
Published in final edited form as: IEEE Syst Man Cybern Mag. 2016 Aug 24;2(2):33–42. doi: 10.1109/MSMC.2015.2501167

Fig. 8.

Fig. 8.

Experimental results with a doorway, hallway and box. Left: intensity image; Right: 3D view of the detected objects (stair in red, doorway in purple, hallway in blue, desk in light green, parallelepiped in green, grounds in black).