Figure 1: This setup includes the Intel Realsense zr300 depth camera angled 45 deg towards the ground and the TurtleBot 2E using the Kobuki base. (Note: The Hokuyo lidar pictured was not used in my experiments.)
Figure 2: This setup has the Intel Realsense zr300 depth camera angled 45 deg towards the ground and mounted on the Ghost Robotics Minitaur robot.
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