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

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