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  _  __    ______    ______    ______   ______   
 | |/ //  /_   _//  /_   _//  /_   _// |      \\ 
 | ' //    -| ||-     | ||     -| ||-  |  --  // 
 | . \\    _| ||_    _| ||     _| ||_  |  --  \\ 
 |_|\_\\  /_____//  /__//     /_____// |______// 
 `-` --`  `-----`   `--`      `-----`  `------`

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Text this: On-board 3-D SLAM for AGV localization