The method 1 wherein the step of comparing includes generating an output corresponding to {HEAD ~ a 3 D position} of {TAIL ~ any said obstacle} relative to said 3 D reference model 
of
The method 1 wherein the step of comparing includes generating an output corresponding to { HEAD ~ a 3 D position } of { TAIL ~ any said obstacle } relative to said 3 D reference model
OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH HEAD HEAD HEAD HEAD HEAD HEAD HEAD HEAD REL TAIL TAIL TAIL TAIL TAIL TAIL TAIL OTH OTH OTH OTH OTH OTH OTH