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localization of the target even with a mis-calibration
between the manipulator and the sensor frames. The
results validated the proposed methodology for a low-
cost ground-truth system to be used in mobile robotic
applications.
Finally, as future work is intended to develop
a standardized bench to optimize the alignment of
the sensor and apply the ground truth in a low cost
localization application and the development of a
ROS node enhancing the cooperation among other re-
searchers community.
ACKNOWLEDGEMENTS
This work is financed by the ERDF European
Regional Development Fund through the Opera-
tional Programme for Competitiveness and Interna-
tionalisation - COMPETE 2020 Programme within
project POCI-01-0145-FEDER-006961, and by Na-
tional Funds through the Portuguese funding agency,
FCT -Fundac¸
˜
ao para a Ci
ˆ
encia e a Tecnologia
(Portuguese Foundation for Science and Technol-
ogy), within project SAICTPAC/0034/2015- POCI-
01- 0145-FEDER-016418 and as part of project
UID/EEA/50014/2013.
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