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 _    _    _    _     _  _    __   __    ______  
| || | || | || | ||  | \| ||  \ \\/ //  /_____// 
| || | || | || | ||  |  ' ||   \ ` //   `____ `  
| \\_/ || | \\_/ ||  | .  ||    | ||    /___//   
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  `---`     `---`    `-` -`     `-`'    /_//     
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Text this: Fast loop closure detection via binary content