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. Author manuscript; available in PMC: 2021 Aug 19.
Published in final edited form as: IEEE Int Conf Robot Autom. 2020 Sep 15;2020:10.1109/icra40945.2020.9197534. doi: 10.1109/icra40945.2020.9197534

Fig. 8.

Fig. 8.

Experimental setup of free space positioning accuracy assessment with an optical tracking system. Inset: reference frame and tracking frame assignment.