The 2D pose of a robot, with respect to a world coordinate frame {O}, is described by a 3x3 homogenous transform matrix T. A landmark point is observed by the robot, as a bearing angle relative to its x-axis (in degrees and increasing counter clockwise) and a range. What is the coordinate of the landmark with respect to the world coordinate frame?

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Pauli Huusari Hoang Minh Tri Lorenzo Hoang

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