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. Author manuscript; available in PMC: 2017 Jul 3.
Published in final edited form as: IEEE Robot Autom Lett. 2017 Mar 8;2(3):1656–1663. doi: 10.1109/LRA.2017.2679902

Fig. 7.

Fig. 7

(a) Image from the left channel of the Naneye Stereo camera (AWAIBA Lda, PT) of a human ex vivo placenta; (b) 3D rendition of the stereo reconstruction; (c) Trajectory of ORB-SLAM and aligned kinematics in the ORB-SLAM coordinate system: Projected to the XY plane; (d) The trajectory from (c) but projected on the YZ plane.