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. 2016 Nov 15;16(11):1915. doi: 10.3390/s16111915

Figure 7.

Figure 7

The mean pixel association error for all fruits in the 16 target trees, as a function of an additive time offset between the navigation data from the GPS/INS and the images. A clear global minimum is visible. The peak occurs for a time offset of 0.111 s, with a minimal average error of 4.2 pixels.