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

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Text this: Approximate intrinsic voxel structure for point cloud simplification