================================================== 0
                      H               H                                    
                      H    cabinet    H           >=                               
                      H               H           >=                               
                      H ===============                                          
                      H   //'               >=    >=                     1     
                      H  //                 >=    >=                               
  tall                H //       chair                                            
  table               O//                   >=    >=                               
                                            >=    >=                               
                                                                                   
                                      >=    >=    >=    >=    >=    >=   2  
                                      >=    >=    >=    >=    >=    >=        
                      H                                                            
                      H======o=====         >=    >=    >=    >=    >=             
                      H open:               >=    >=    >=    >=    >=             
                      H ____:                                                      
                      H cab-I     chair     >=    >=    >=    >=         3
                      H inetI               >=    >=    >=    >=       meters
                      H =====o=====                                              
                      ====================================================    
                                                                                   
          -1          0          1          2          3          4 meters
                                                                                   

Figure 12: A schematic overview of the room mapped in the first runs
of "crayfish".  Camera positions are marked with the symbol ">="
representing a camera looking to the left.  The image in figure 10 was
taken by the camera just left of the vertical "2" meter mark.