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 __   __    ______    ______     ___     _____    
 \ \\/ //  /_   _//  /_____//   / _ \\  |  __ \\  
  \   //    -| ||-   `____ `   | / \ || | |  \ || 
  / . \\    _| ||_   /___//    | \_/ || | |__/ || 
 /_//\_\\  /_____//  `__ `      \___//  |_____//  
 `-`  --`  `-----`   /_//       `---`    -----`   
                     `-`

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Text this: Fast loop closure detection via binary content