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   _____     ___     _    _    _    _             
  / ___//   / _ \\  | \  / || | || | ||     ___   
  \___ \\  | / \ || |  \/  || | || | ||    /   || 
  /    //  | \_/ || | .  . || | \\_/ ||   | [] || 
 /____//    \___//  |_|\/|_||  \____//     \__ || 
`-----`     `---`   `-`  `-`    `---`       -|_|| 
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Text this: Fast semantic-aware motion state detection for visual SLAM in dynamic environment