DARPA The Mercator
	  Project IPTO Office DARPA's MARS Program



3D MODELING USING VOLUMETRIC EM:

Yufeng Liu, Rosemary Emery, Deepayan Chakrabarti, and I applied EM to estimate a low-complexity multi-plane model from the raw data. The resulting model is a generative is a full 3D model of structure and texture. Notice the difference, by comparing the two images below! The map is in standard VRML format.

Results by: Yufeng Liu, Rosemary Emery, Deepayan Chakrabarti, Sebastian Thrun

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