Figure 7
From: The Southampton-York Natural Scenes (SYNS) dataset: Statistics of surface attitude
Surface attitude estimation for an example scene.
(a) Spheron image; masked regions correspond to sky regions that do not generate LiDAR returns, and the low elevation region not captured by LiDAR. (b) Range data. (c) Optimal neighbourhood size. (d) Egocentric slant. (e) Egocentric tilt.
