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

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Text this: A model-based vision system for recognising three-dimensional objects from a single gray-intensity image