Eric Chown. Gateways: An approach to parsing spatial domains. In ICML 2000. Home/Search Document Details and Download
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RG Mapping: Learning Compact and Structured 2D Line Maps .. - Schröter, Beetz, Gutmann (2002) (Correct)
....hallway into an open room, e.g. a lobby. Gateways are specified by a class label, adjacent regions, traversal directions, crossing points and gateway points that can be used for detecting when a gateway is entered and left. A number of researchers including Kortenkamp [10] Youngblood [15] Chown [4] and Schultz [1] have proposed gateways as first class objects in map representations. open to close transition left and right x x x narrow passage X junction left and right turn T junction Fig. 2. gateways with crossing points ( andgateway points ( III. MAP BUILDING ....
Eric Chown. Gateways: An approach to parsing spatial domains. In ICML 2000.
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