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  _____    __   __     _____   _    _     ______  
 |__  //   \ \\/ //   / ___// | || | ||  /_____// 
   / //     \ ` //    \___ \\ | || | ||  `____ `  
  / //__     | ||     /    // | \\_/ ||  /___//   
 /_____||    |_||    /____//   \____//   `__ `    
 `-----`     `-`'   `-----`     `---`    /_//     
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Text this: Breadcrumb: An indoor simultaneous localization and mapping system for mobile devices