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. Author manuscript; available in PMC: 2023 Oct 31.
Published in final edited form as: IEEE Robot Autom Lett. 2022 Oct 31;7(4):12475–12482. doi: 10.1109/lra.2022.3218183

Fig. 2.

Fig. 2.

A-SEE design and sensor calibration. a) A-SEE CAD model and coordinate frame definition. Sensors are separated 90 degrees from one another. R is the radius of the sensor ring; L is the distance from the bottom of the sensor ring to the tip of the probe. b) Sensor distance measurement error before and after adding sensor error compensator.