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Tm [ (L) -0.81746 (1) 0.11678 (\051) -0.21896 ( 2) 0.11678 (D) -0.19706 ( ) -0.08758 (l) -0.47449 (i) -0.47449 (n) -0.39413 (e) 0.45982 ( ) -0.08758 (s) -0.09488 (e) 0.40143 (g) 0.32114 (m) 0.22626 (e) 0.45982 (n) -0.39413 (t ) ] TJ 13.82730 -8.02773 Td [ (d) -0.39413 (e) 0.45982 (te) 0.45982 (c) 0.19706 (ti) -0.47449 (o) -0.31384 (n) ] TJ ET Q 1 g 3363.93000 5106.80000 741.02700 162.09800 re f* 3363.93000 5106.80000 741.02700 162.09800 re S 0 g q 10 0 0 10 0 0 cm BT /R25 6.68996 Tf 1 0 0 1 343.03200 516.77800 Tm [ (P) 0.13503 (2\051) -0.21896 ( Bac) 0.14233 (k) 0.78826 (\055) -0.13868 (p) -0.39048 (r) 0.41238 (o) -0.31749 (j) -0.28100 (e) 0.45982 (c) 0.14233 (t) 0.07664 ( ) -0.08394 (t) 0.07664 (o) -0.37588 ( ) -0.37588 (3) 0.12043 (D) ] TJ ET Q 1 g 4429.15000 5106.80000 741.02300 162.09800 re f* 4429.15000 5106.80000 741.02300 162.09800 re S 0 g q 10 0 0 10 0 0 cm BT /R25 6.68996 Tf 1 0 0 1 462.05900 520.79200 Tm [ (L2) 0.11678 (\051) -0.21896 ( S) -0.46712 (am) 0.22626 (p) -0.39413 (l) -0.47449 (e) 0.45982 ( ) -0.43792 (\046) -0.16787 ( ) ] TJ -7.24570 -8.02773 Td [ (b) -0.39413 (ac) 0.13868 (k) 0.72987 (\055) -0.13868 (p) -0.39413 (r) 0.35764 (o) -0.31384 (j) -0.21896 (e) 0.40143 (c) 0.19706 (t to) -0.31384 ( ) -0.37953 (3D) ] TJ ET Q 1 g 3097.63000 4805.76000 613.66000 162.10200 re f* 3097.63000 4805.76000 613.66000 162.10200 re S 0 g q 10 0 0 10 0 0 cm BT /R25 6.68996 Tf 1 0 0 1 318.22300 490.68800 Tm [ (P) 0.36858 (3) -0.11313 (\051) -0.21896 ( C) -0.15692 (o) -0.37588 (m) 0.22991 (p) -0.39048 (u) -0.39048 (t) 0.07664 (e) 0.45982 ( ) 0.20801 (3D) -0.19342 ( ) ] TJ -1.67188 -8.02773 Td [ (p) -0.39048 (o) -0.31749 (i) -0.47084 (n) -0.39048 (t ) -0.08394 (c) 0.20072 (o) -0.31749 (v) 0.29560 (ar) 0.35399 (i) -0.47084 (an) -0.39048 (c) 0.14233 (e) 0.45982 (s) ] TJ ET Q 1 g 4811.24000 4805.76000 625.24200 162.10200 re f* 4811.24000 4805.76000 625.24200 162.10200 re S 0 g q 10 0 0 10 0 0 cm BT /R25 6.68996 Tf 1 0 0 1 483.90300 490.68800 Tm [ (L) -0.75907 (3\051) -0.21896 ( D) -0.19706 (e) 0.45982 (te) 0.45982 (c) 0.13868 (t) 0.08029 ( ) -0.14597 (3D) -0.19706 ( ) -0.08758 (l) -0.47449 (i) -0.47449 (n) -0.39413 (e) 0.45982 (s) -0.09488 ( ) 0.32114 (\046) -0.10948 ( ) ] TJ -0.39609 -8.02773 Td [ (c) 0.19706 (o) -0.37223 (m) 0.22626 (p) -0.39413 (u) -0.39413 (t) 0.08029 (e) 0.45982 ( ) -0.08758 (c) 0.13868 (o) -0.31384 (v) 0.35764 (ar) 0.41603 (i) -0.47449 (an) -0.39413 (c) 0.19706 (e) 0.45982 (s) ] TJ ET Q 1 g 3757.60000 4805.76000 463.13700 162.10200 re f* 3757.60000 4805.76000 463.13700 162.10200 re S 0 g q 10 0 0 10 0 0 cm BT /R25 6.68996 Tf 1 0 0 1 382.45000 490.68800 Tm [ (P) 0.13503 (4\051) -0.21896 ( P) 0.36858 (u) -0.39048 (t) 0.07664 (at) 0.07664 (i) -0.47084 (v) 0.35764 (e) 0.45982 ( ) ] TJ -4.12227 -8.02773 Td [ (p) -0.39048 (o) -0.37588 (i) -0.47084 (n) -0.39048 (t) 0.07664 ( ) -0.08394 (m) 0.22991 (at) 0.07664 (c) 0.14233 (h) -0.39413 (i) -0.47449 (n) -0.39413 (g) ] TJ ET Q 1 g 4301.79000 4805.76000 463.14100 162.10200 re f* 4301.79000 4805.76000 463.14100 162.10200 re S 0 g q 10 0 0 10 0 0 cm BT /R25 6.68996 Tf 1 0 0 1 437.19300 490.68800 Tm [ (L) -0.75907 (4) 0.87584 (\051) -0.21896 ( ) -0.78826 (P) 0.36494 (u) -0.39413 (t) 0.08029 (ati) -0.47449 (v) 0.35764 (e) 0.45982 ( ) ] TJ -2.23867 -8.02773 Td [ (l) -0.53288 (i) -0.47449 (n) -0.39413 (e) 0.45982 ( ) -0.08758 (m) 0.22626 (atc) 0.19706 (h) -0.39413 (i) -0.47449 (n) -0.39413 (g) ] TJ ET Q 1 g 3896.54000 4493.14000 741.02300 162.09800 re f* 3896.54000 4493.14000 741.02300 162.09800 re S 0 g q 10 0 0 10 0 0 cm BT /R25 6.68996 Tf 1 0 0 1 402.96200 459.42600 Tm [ (5) 0.87950 (\051) -0.21896 ( ) -0.78826 (RA) 0.41603 (N) 0.50361 (S) -0.46712 (A) 0.41603 (C) 0.48901 (\055) -0.13868 (b) -0.39413 (as) -0.09488 (e) 0.45982 (d) ] TJ -1.39961 -8.02773 Td [ (m) 0.22991 (o) -0.37223 (t) 0.08029 (i) -0.47449 (o) -0.31384 (n) -0.39413 ( ) -0.08758 (e) 0.45982 (s) -0.09488 (ti) -0.47449 (m) 0.22626 (at) 0.08029 (i) -0.47449 (o) -0.31384 (n) ] TJ ET Q 1 g 3896.54000 4192.10000 741.02300 162.09800 re f* 3896.54000 4192.10000 741.02300 162.09800 re S 0 g q 10 0 0 10 0 0 cm BT /R25 6.68996 Tf 1 0 0 1 397.90900 429.32200 Tm [ (6) 0.87950 (\051) -0.21896 ( ) -0.78461 (Mo) -0.31384 (t) 0.08029 (i) -0.53288 (o) -0.31384 (n) -0.39413 ( ) -0.08758 (e) 0.45982 (s) -0.09488 (t) 0.08029 (i) -0.47449 (m) 0.16787 (ati) -0.47449 (o) -0.31384 (n) -0.39413 ( ) ] TJ 13.54410 -8.02773 Td [ (r) 0.41603 (e) 0.45982 (f) -0.20436 (i) -0.47449 (n) -0.39413 (e) 0.45982 (m) 0.22626 (e) 0.40143 (n) -0.33574 (t) ] TJ ET Q 2.57300 w 3734.44000 5407.84000 m 3734.44000 5311.61000 l S 3749.98000 5315.52000 m 3734.44000 5268.90000 l 3718.90000 5315.52000 l 3749.98000 5315.52000 l f* 4799.66000 5407.84000 m 4799.66000 5311.61000 l S 4815.21000 5315.52000 m 4799.66000 5268.90000 l 4784.13000 5315.52000 l 4815.21000 5315.52000 l f* 3734.44000 5708.88000 m 3734.44000 5612.65000 l S 3749.98000 5616.56000 m 3734.44000 5569.94000 l 3718.90000 5616.56000 l 3749.98000 5616.56000 l f* 3404.48000 5054.67000 m 3404.48000 5010.57000 l S 3420.02000 5014.48000 m 3404.48000 4967.86000 l 3388.94000 5014.48000 l 3420.02000 5014.48000 l f* 3734.44000 5106.80000 m 3734.44000 5054.67000 l S 4267.05000 4493.14000 m 4267.05000 4396.91000 l S 4282.59000 4400.82000 m 4267.05000 4354.20000 l 4251.51000 4400.82000 l 4282.59000 4400.82000 l f* 3734.44000 5662.57000 m 4799.66000 5662.57000 l 4799.66000 5612.65000 l S 4815.21000 5616.56000 m 4799.66000 5569.94000 l 4784.13000 5616.56000 l 4815.21000 5616.56000 l f* 4614.41000 5801.51000 m 4267.05000 5801.51000 l 4267.05000 5685.73000 l S 4147.72000 5187.85000 m 4386.44000 5187.85000 l S 4151.58000 5172.31000 m 4104.96000 5187.85000 l 4151.58000 5203.39000 l 4151.58000 5172.31000 l f* 4382.53000 5203.39000 m 4429.15000 5187.85000 l 4382.53000 5172.31000 l 4382.53000 5203.39000 l f* 4267.05000 5685.73000 m 4279.87000 5685.73000 4290.21000 5675.38000 4290.21000 5662.57000 c 4290.21000 5662.57000 l 4290.21000 5649.75000 4279.87000 5639.41000 4267.05000 5639.41000 c 4267.05000 5639.41000 l S 4267.05000 5639.41000 m 4267.05000 5187.85000 l S 3741.70000 5662.57000 m 3741.70000 5666.58000 3738.46000 5669.82000 3734.44000 5669.82000 c 3730.43000 5669.82000 3727.19000 5666.58000 3727.19000 5662.57000 c 3727.19000 5658.55000 3730.43000 5655.31000 3734.44000 5655.31000 c 3738.46000 5655.31000 3741.70000 5658.55000 3741.70000 5662.57000 c f* 3741.70000 5662.57000 m 3741.70000 5666.58000 3738.46000 5669.82000 3734.44000 5669.82000 c 3730.43000 5669.82000 3727.19000 5666.58000 3727.19000 5662.57000 c 3727.19000 5658.55000 3730.43000 5655.31000 3734.44000 5655.31000 c 3738.46000 5655.31000 3741.70000 5658.55000 3741.70000 5662.57000 c h S 4274.31000 5187.85000 m 4274.31000 5191.86000 4271.07000 5195.11000 4267.05000 5195.11000 c 4263.04000 5195.11000 4259.80000 5191.86000 4259.80000 5187.85000 c 4259.80000 5183.84000 4263.04000 5180.59000 4267.05000 5180.59000 c 4271.07000 5180.59000 4274.31000 5183.84000 4274.31000 5187.85000 c f* 4274.31000 5187.85000 m 4274.31000 5191.86000 4271.07000 5195.11000 4267.05000 5195.11000 c 4263.04000 5195.11000 4259.80000 5191.86000 4259.80000 5187.85000 c 4259.80000 5183.84000 4263.04000 5180.59000 4267.05000 5180.59000 c 4271.07000 5180.59000 4274.31000 5183.84000 4274.31000 5187.85000 c h S 3404.48000 5054.67000 m 3989.17000 5054.67000 l S 3989.17000 5054.67000 m 3989.17000 5010.57000 l S 4004.71000 5014.48000 m 3989.17000 4967.86000 l 3973.63000 5014.48000 l 4004.71000 5014.48000 l f* 3741.70000 5054.67000 m 3741.70000 5058.68000 3738.46000 5061.93000 3734.44000 5061.93000 c 3730.43000 5061.93000 3727.19000 5058.68000 3727.19000 5054.67000 c 3727.19000 5050.71000 3730.43000 5047.46000 3734.44000 5047.46000 c 3738.46000 5047.46000 3741.70000 5050.71000 3741.70000 5054.67000 c f* 3741.70000 5054.67000 m 3741.70000 5058.68000 3738.46000 5061.93000 3734.44000 5061.93000 c 3730.43000 5061.93000 3727.19000 5058.68000 3727.19000 5054.67000 c 3727.19000 5050.71000 3730.43000 5047.46000 3734.44000 5047.46000 c 3738.46000 5047.46000 3741.70000 5050.71000 3741.70000 5054.67000 c h S 4533.36000 5054.67000 m 4533.36000 5010.57000 l S 4548.90000 5014.48000 m 4533.36000 4967.86000 l 4517.82000 5014.48000 l 4548.90000 5014.48000 l f* 4799.66000 5106.80000 m 4799.66000 5054.67000 l S 4533.36000 5054.67000 m 5123.86000 5054.67000 l S 5123.86000 5054.67000 m 5123.86000 5010.57000 l S 5139.41000 5014.48000 m 5123.86000 4967.86000 l 5108.32000 5014.48000 l 5139.41000 5014.48000 l f* 4806.92000 5054.67000 m 4806.92000 5058.68000 4803.68000 5061.93000 4799.66000 5061.93000 c 4795.65000 5061.93000 4792.41000 5058.68000 4792.41000 5054.67000 c 4792.41000 5050.71000 4795.65000 5047.46000 4799.66000 5047.46000 c 4803.68000 5047.46000 4806.92000 5050.71000 4806.92000 5054.67000 c f* 4806.92000 5054.67000 m 4806.92000 5058.68000 4803.68000 5061.93000 4799.66000 5061.93000 c 4795.65000 5061.93000 4792.41000 5058.68000 4792.41000 5054.67000 c 4792.41000 5050.71000 4795.65000 5047.46000 4799.66000 5047.46000 c 4803.68000 5047.46000 4806.92000 5050.71000 4806.92000 5054.67000 c h S 4267.05000 4742.05000 m 4267.05000 4697.95000 l S 4282.59000 4701.86000 m 4267.05000 4655.24000 l 4251.51000 4701.86000 l 4282.59000 4701.86000 l f* 3404.48000 4742.05000 m 5123.86000 4742.05000 l S 3404.48000 4805.76000 m 3404.48000 4742.05000 l S 3989.17000 4805.76000 m 3989.17000 4742.05000 l S 4533.36000 4805.76000 m 4533.36000 4742.05000 l S 5123.86000 4805.76000 m 5123.86000 4742.05000 l S 4274.31000 4742.05000 m 4274.31000 4746.07000 4271.07000 4749.31000 4267.05000 4749.31000 c 4263.04000 4749.31000 4259.80000 4746.07000 4259.80000 4742.05000 c 4259.80000 4738.09000 4263.04000 4734.85000 4267.05000 4734.85000 c 4271.07000 4734.85000 4274.31000 4738.09000 4274.31000 4742.05000 c f* 4274.31000 4742.05000 m 4274.31000 4746.07000 4271.07000 4749.31000 4267.05000 4749.31000 c 4263.04000 4749.31000 4259.80000 4746.07000 4259.80000 4742.05000 c 4259.80000 4738.09000 4263.04000 4734.85000 4267.05000 4734.85000 c 4271.07000 4734.85000 4274.31000 4738.09000 4274.31000 4742.05000 c h S Q q 10 0 0 10 0 0 cm BT /R13 9.96260 Tf 1 0 0 1 373.83200 399.63200 Tm [ (Figure) -250.01200 (1\072) -310.01700 (System) -249.99700 (diagram\056) ] TJ -64.96990 -20.69100 Td [ (vide) -328.99200 (less) -328.98900 (position) -328.99700 (ambiguity) -328.99400 (than) -328.98900 (that) -328.98900 (of) -329.00400 (lines) -328.98400 (if) -329 (suf) 24.98600 <026369656e74> ] TJ 11.95590 TL T* [ (observ) 24.99090 (ations) -254.98900 (are) -256.00900 (a) 19.99180 (v) 24.98110 (ailable\056) -326.00900 (Ef) 25.01540 (fecti) 25.01540 (v) 14.98280 (ely) -255.98700 (combining) -255.00600 (those) -256.01600 (de\055) ] TJ 11.95510 TL T* [ (sirable) -243.98400 (properties) -244.01800 (w) 10 (ould) -244.99600 (increase) -243.99900 (both) -244.01300 (accurac) 14.99750 (y) -243.99400 (and) -245.01300 (rob) 20.00160 (ust\055) ] TJ T* [ (ness) -374.00400 (for) -374.01800 (an) -374.01600 (odometry) -373.98400 (method\056) -682.00900 (W) 79.98660 (e) -373.98200 (e) 15.01220 (xtract) -374.00600 (3D) -374.00600 (points) -373.98200 (and) ] TJ T* [ (lines) -262.99300 (from) -263.98500 (RGB\055D) -262.98600 (data) -263.99300 (and) -263.01000 (analyze) -263.99500 (their) -263.00500 (measurement) -264.00500 (un\055) ] TJ T* [ (certainties\056) -480.99600 (W) 79.98660 (e) -305.99300 (pro) 14.98520 (vide) -306.99500 (a) -307.01200 (frame) 25.01050 (w) 10.00320 (ork) -307.00300 (that) -306.99300 (seamlessly) -307.00800 (fuses) ] TJ T* [ (points) -295.99500 (and) -295.00500 (lines) -296.00700 (by) -296.01900 (adopting) -295.99500 (a) -295.01400 (RANSA) 39.98840 (C\055based) -296.00900 (motion) -295.99000 (es\055) ] TJ 11.95630 TL T* [ (timation\054) -527 (follo) 24.99830 (wed) -471.99700 (by) -471.99000 (a) -472.00500 (maximum) -471.99000 (lik) 10.01790 (elihood) -472.00900 (estimation) ] TJ 11.95470 TL T* [ (\050MLE\051\055based) -243.00100 (motion) -243.01600 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