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

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Text this: Wide-Baseline Stereo-Based Obstacle Mapping for Unmanned Surface Vehicles