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. 2017 Jun 12;17(6):1341. doi: 10.3390/s17061341

Figure 3.

Figure 3

Sample images when an upward-facing spherical camera rotates. The central bottom pixels are the current heading direction of the robot platform and the red arrows represent one specific potential direction. The azimuth rotations of the robot platform merely lead to corresponding 2-dimensional rotations of the spherical images.