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

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Text this: VisioMap : lightweight 3-D scene reconstruction toward natural indoor localization