Figure 4.

Distance measurement at $P_{R^{\prime },C}$ where $R^{\prime }$ is continuously defined ($R^{\prime }=[200,600]$) and the robot moves at a speed of 1 mm/s. (a) Measured distance (blue) vs. actual distance (orange) with zero error represented by the orange line. (b) Absolute (blue) and relative error (orange) in measured distance.