Journal of Robotics / 2011 / Article / Fig 5

Research Article

Advanced Methods for Robot-Environment Interaction towards an Industrial Robot Aware of Its Volume

Figure 5

Oriented 3D bounding box: is the centre point, together with normalized and positive-oriented side vectors , , and . The vectors , , and are the distances from the centre of the box to the centre of its faces.
389158.fig.005

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