17. Results of the point-correspondence algorithm in the Computer Science Building. (a) Numbers label the detected points on the image and the corresponding matched points on the floor plan. (b) The floor plan is warped into the image space and overlaid on the original image. This example has 10 image points and 32 map points and completes matching in about 4 seconds. November 1, 2009
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20. Changes in floor material, reflective floors and structures like catwalks causes problems. People or clutter in the hallways causes problems in detecting features. Environments with low contrast difference between floors and walls. November 1, 2009 Limitations Examples that pose problems for Segmentation.