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           __   __    _____      ___       _____  
  ____     \ \\/ //  |__  //    / _ \\    / ___// 
 |    \\    \ ` //     / //    | / \ ||   \___ \\ 
 | [] ||     | ||     / //__   | \_/ ||   /    // 
 |  __//     |_||    /_____||   \___//   /____//  
 |_|`-`      `-`'    `-----`    `---`   `-----`   
 `-`

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Text this: Real-time navigation in 3D environments based on 2D sensor