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Figures 21 through 27 show a similar development for another data set 
SRI mobile robot during a trip outside. f data set, one obtained by our 
  
Fig. 21. Imagery from outdoor scene 
  
Fig. 23. EPI from the outdoor sequence 
  
  
Fig. 22. Spatio-temporal solid 
  
  
  
‘ 
U-T Straight Ledgels for slice Y=90 
Fig. 24. Linear feature paths 
  
  
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X-Z Points for slice Y=90 X-Z Fres Space for slice Y=90 
Fig. 25. (x, z) locations, 99% confidence ellipses Fig. 26. Free space 
(The large horizontal ellipses represent scene objects.) 
127