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. Author manuscript; available in PMC: 2010 Jul 2.
Published in final edited form as: Int J Rob Res. 2010 Jun 1;29(7):801–812. doi: 10.1177/0278364909352700

Fig. 4.

Fig. 4

The base grid of the HEALPix sequence consists of 12 points. The cylindrical projection of the grid cells from S2 to (cos(θ),ϕ) coordinates is shown. Each next resolution subdivides each of the spherical squares into 4 squares of equal area [7].