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Slides de minha apresentação no WVC2009. Demonstra como é possível mapear um ambiente onde há grandes bordas em direções ortogonais à de movimentação de uma câmera (e.g. em um robô móvel) apenas analisando-se uma única linha das imagens, ortogonal às bordas. O resultado é um mapa em duas dimensões onde os pontos indicam os limites dos planos do ambiente, permitindo identificar beiradas de plataformas e outros tipos de obstáculos.
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