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Fig. 3 | IPSJ Transactions on Computer Vision and Applications

Fig. 3

From: Incremental structural modeling on sparse visual SLAM

Fig. 3

Centers of mass of shapes detected on two consecutive keyframes using the incremental (ISM) and the regular (RSM) approaches. Blue are for planes, green for spheres, and red for cylinders. Gray are for unreliable shapes that will not be rendered and appear only when using the temporal information

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