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. Author manuscript; available in PMC: 2019 Oct 30.
Published in final edited form as: IEEE Syst Man Cybern Mag. 2016 Aug 24;2(2):33–42. doi: 10.1109/MSMC.2015.2501167

Fig. 7.

Fig. 7.

Pose estimation in a feature-rich environment (experiment 1 in Group I). Left: snapshot of scene; Right: CRC’s trajectories estimated by the dead reckoning and PGO methods plotted over the 3D point cloud map.