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. Author manuscript; available in PMC: 2021 Oct 1.
Published in final edited form as: IEEE Trans Autom Sci Eng. 2020 May 6;17(4):2154–2161. doi: 10.1109/tase.2020.2986503

Fig. 8.

Fig. 8.

Point cloud containing marker positions obtained by ‘circle-drawing’ and ‘sphere-drawing’ motions is shown on the left. Fitted arcs and sphere centers are shown on the right.