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On the floor of the lab is a 4.0 x 4.5 m PVC canvas with a map printed on it. Its purpose is for visualization and presentation only. It has no direct effect on the vehicle or system behavior.

There is a second PVC canvas with a 0.1 x 0.1 m checkerboard pattern printed on it. This pattern helps to define the coordinate system in the lab, and allows calibration of the IPS camera system.

The map is constructed with Matlab scripts, see