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. Author manuscript; available in PMC: 2017 Apr 1.
Published in final edited form as: IEEE Trans Robot. 2016 Mar 10;32(2):327–338. doi: 10.1109/TRO.2016.2522433

Fig. 12.

Fig. 12

Typical trends for the (a) radial, (c) axial, and (e) azimuth components during the final experiment, and related absolute and relative errors (b, d, and f, respectively).