健壮数据结构
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Finally it introduces a data structure for the minimization based on the chamfer distance transform which yields an algorithm that is both faster and more robust than previously described methods.
最后介绍一种基于切面距离变换最小化的数据结构，这种变换产生的算法比以前描述的方法速度快而且鲁棒性强。
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