Minimal Ellipse for Safe boundary
Blue points are the obstacles measured by a Hokuyo laser scanner of 240 degree FOV with 400cm detecting range. all points with 40cm radius are ignored.
The yellow ellipse represents the minimal safe boundary.
Blue points are the obstacles measured by a Hokuyo laser scanner of 240 degree FOV with 400cm detecting range. all points with 40cm radius are ignored.
The yellow ellipse represents the minimal safe boundary.