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. Author manuscript; available in PMC: 2019 May 9.
Published in final edited form as: IEEE Trans Autom Sci Eng. 2018;15:10.1109/TASE.2017.2720478. doi: 10.1109/TASE.2017.2720478

Fig. 3.

Fig. 3

Transformation from one arbitrary coordinate system, R, to another, N, relies on defining an intermediate coordinate system, O, with a known transformation to and from R and N.