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isprsannals II 3 W3 31 2013

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Figure 2: The θ feature map.
Figure 4: Description of the observation selection step. The bluepoints are the LIDAR points, and the darker blue they are, thefor three pointscloser of θcurb they are
Figure 7: Result of the prediction/estimation road side detectionmodel in a crossing part (red points)
Figure 11: Maps and histograms of the distances between the pro-duced surface model and the real ground points on a road section.
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