Spherical Pc
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![Spherical Pc The unified spherical model [22], [47]. A 3D point pc = Rpw (see sec ...](https://www.researchgate.net/publication/363054562/figure/fig1/AS:11431281081367093@1661758001883/The-unified-spherical-model-22-47-A-3D-point-pc-Rpw-see-sec-33-is-first.png)
























































































