2.2. Polygonal Based MethodsAmong the polygonal-based techniques, the incremental and split-and-merge (SM) Site URL List 1|]# approaches are probably the most popular and simple line segments extractors. The split-and-merge algorithm fits a line segment to the set of range readings, and it then divides this line into two
segments if there is a range reading whose distance to the line is greater than a given threshold. This splitting process is then iteratively applied to the newly generated line segments. Finally, when all line segments have been checked, collinear segments are merged. This algorithm has been used to extract line segments in many robotic research [17�C20].

The incremental algorithm, also known as Line-Tracking, starts with two close points and adds the next scan point to the end of the segment when a predefined line condition is satisfied.

If the criterion is not achieved, the current line is finished
The Mediterranean area is a region experiencing strong ecological variations due to global climate change: wildland and forest fires represent there an important cause of natural hazards and disasters for assets and human lives every year. Early detection and accurate tracking of the fire front propagation are key points in fire fighting strategies to minimize the damage and possible casualties. According to fire managers, the delay in detecting a fire ignition in the open is considered as one of the main factors increasing the response time of the first fire fighting actions.

The Dacomitinib resulting size of the fire to be managed as the final burning area strongly depends on this response time of the first fire fighting action (FFFA).

According to the Prom��th��e database��the inventory of fires in the Mediterranean region in the South of France since 1973��only the alerts given by operational Entinostat services (firemen, forest patrols) lead to a FFFA response time lower than 15 minutes due to the quality of information on the accurate location of the fire: this database reports that 66% of all fire detections are performed by civilians. Furthermore, reference [1] mentions that the increase in the number of fire lookout towers and patrols of forest managers significantly decreases the final size of burned areas.

In both cases, the decrease of the burned vegetation area can be attrbuted to short FFFA response times. Moreover, in standard models for fire fight and forest manager, the fire power. i.e., the amount of heat release by time and length units of fire front is linearly dependant on the fire rate of spread (ROS). This means that the accurate tracking of the fire front spread leads to information of first rate importance in terms of fire fighting.