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. Author manuscript; available in PMC: 2011 Jun 7.
Published in final edited form as: Int J Rob Res. 2011 May 1;30(6):730–754. doi: 10.1177/0278364911400220

Table 4.

Theoretical and empirical variances for the re-alignments in Fig. 9.


Theoretical variance
Empirical variance
cx2 1.2090 1.2575
cy2 1.2090 1.4349
θ 2 0.0238 0.0200