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The goal behind this paper is to find a generic method for controlling the motion of a robot relative to an object of an arbitrary shape. In this paper we study; 9 modelling laser range measurements for different type of objectslsurface properties. Outdoor scenes are emphasized. testing the distance transform on measurements for estimating the motion of a robot relative to an object of arbitmy shape. Emphasis in the present study is to get experience of the error mechanism in the distance transform when tested on cluttered laser measurements. Both natural and man-made objects are used and compared in the tests.

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