Es wird aber nur der Fall eines rechtwinkligen Dreiecks betrachtet. We show promising results on different datasets and provide a quantitative evaluation, which demonstrates the capability of complete and accurate detection of facade objects. Individual berries of one cluster were placed on a defined construction to take a RGB image from the top. We propose a minimal representation for the uncertainty of homogeneous coordinates of 2D points and 2D lines and rotations to avoid the use of singular covariance matrices of observed line segments. The spatial and hierarchical structures of the regions are integrated into pairwise potentials.
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