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

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Text this: Energy minimization approach for negative obstacle region detection