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strategy based on a semantic hierarchy of spatial representations ,” Robot. Autonom. Sys. , vol. 8 , no. 1–2 , pp. 47 – 63 , 1991 . 10.1016/0921-8890(91)90014-C [10] J. Guivant and E. Nebot , “ Optimization of the simultaneous localization and map

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the dynamic aspect of the domain, respectively. The representations of endurant and perdurant ontologies described above provide a useful way to develop our domain ontology that is well-founded, using philosophically grounded foundational ontologies

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displays the 3D dataset without computing any intermediate geometry representations [ 12 ]. The basic idea behind it is casting a ray into the volume from each pixel of the screen, sampling the volume along the ray in a front-to-back or back-to-front order

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