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/Length 26051
>>
stream
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11.9551 TL
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/R90 9.9626 Tf
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[ (our) -313 (past) -312.993 (choices) -314.016 (of) -313.005 (solv) 15.0012 (er) 39.986 (\054) -329.001 (which) -312.991 (is) -312.994 (the) -313 (best) -314.011 (solv) 15 (er) -313.014 (to) ] TJ
11.9551 TL
T*
[ (use) -249.991 (for) -249.999 (the) -249.99 (ne) 15.0183 (xt) -249.985 (iteration\077) ] TJ
-12.4531 -11.9551 Td
[ (3\056) -499.988 (When) -249.991 (should) -250.004 (we) -249.999 (terminate\077) ] TJ
-7.47187 -12.0047 Td
[ (F) 14.992 (or) -374.994 (the) -376.008 <02727374> -375.011 (question\054) -406.991 (we) -374.997 (adopt) -375.997 (a) -375.001 (classical) -375.018 (RANSA) 39.9909 (C) -376.003 (ap\055) ] TJ
T*
[ (proach\054) -517.006 (and) -463.995 (choose) -463.009 (the) -463.994 (best) -463.988 (model) -462.996 (as) -463.999 (the) -463.013 (one) -463.996 (with) -464.018 (the) ] TJ
T*
[ (highest) -377.004 (inlier) -377.997 (count) -377.017 (o) 14.9828 (v) 14.9828 (erall\054) -408.986 (taking) -377.991 (into) -377.011 (account) -376.986 (both) -377.993 (sets) ] TJ
T*
[ (of) -337 (matches\056) -572.982 (Notice) -336.989 (that) -338.007 (one) -336.996 (may) -336.99 (choose) -338.01 (a) -337.007 (dif) 24.986 (ferent) -337.985 (inlier) ] TJ
T*
[ (threshold) -250.004 (for) -249.999 (each) -250.006 (set) -249.989 (of) -249.996 (matches\056) ] TJ
11.9551 -12.0047 Td
[ (The) -354.995 (issue) -354 (of) -354.998 (choosing) -355.004 (a) -353.985 (solv) 15.0012 (er) -355.007 (for) -355 (the) -354.012 (ne) 15.0171 (xt) -354.987 (iteration) -355.012 (is) ] TJ
-11.9551 -11.9551 Td
[ (tackled) -400.98 (using) -401.003 (a) -400.997 (probability\055guided) -401.004 (sampling) -400.987 (strate) 14.9852 (gy) 65.0186 (\056) -763.007 (At) ] TJ
T*
[ (each) -406.999 (iteration\054) -446.994 (a) -406.996 (solv) 15.0012 (er) -408.018 (is) -407.017 (chosen) -407.998 (according) -407.02 (to) -407.018 (its) -407.991 (proba\055) ] TJ
T*
[ (bility) -319.006 (of) -317.984 (succeeding) -318.99 (\050estimating) -319 (a) -319.01 (model) -318 (from) -318.996 (an) -319.006 (all\055inlier) ] TJ
258.75 629.037 Td
[ (minimal) -221.995 (sample\051) -221.983 (at) -222 (this) -222.017 (iteration) -220.997 (for) -222.002 (the) -221.992 <02727374> -222.017 (time\056) -300.984 (The) -221.997 (intu\055) ] TJ
T*
[ (ition) -212.991 (behind) -213.001 (using) -212.014 (this) -212.999 (probability) -213.018 (is) -213.009 (that) -211.989 (we) -212.984 (w) 10.0032 (ant) -213.013 (our) -213.018 (solv) 15.0024 (er) ] TJ
T*
[ (to) -320.993 (be) -321.985 (as) -321.003 (e) 15.0122 (xploratory) -321.015 (as) -321.983 (possible) -321.005 (as) -321.005 (long) -322 (as) -321.005 (the) -320.995 (data) -321.981 (allo) 24.9909 (ws) ] TJ
T*
[ (it\056) -498.017 (Therefore\054) -329.011 (we) -313.009 (w) 10 (ould) -312.004 (lik) 10.0179 (e) -313.012 (to) -312.997 (select) -312.997 (a) -311.992 (solv) 15.0024 (er) -313.016 (with) -312.982 (a) -313.012 (high) ] TJ
11.9559 TL
T*
[ (chance) -274.981 (of) -275.991 (success) -275.003 (which) -276.018 (has) -275.008 (not) -276.013 (been) -275.013 (used) -275.983 (enough) -274.993 (to) -275.983 (ha) 19.9967 (v) 14.9828 (e) ] TJ
11.9551 TL
T*
[ (found) -328.007 (a) -327.009 (v) 24.9811 (alid) -328.009 (solution) -326.997 (yet\056) -542.998 (This) -326.98 (means) -328.009 (that) -328.009 (its) -326.985 (chances) -327.984 (of) ] TJ
T*
[ <026e64696e67> -224 (a) -224.007 (good) -225.002 (solution) -223.994 (for) -224.002 (the) -223.992 <02727374> -224.997 (time) -224.017 (should) -224.007 (be) -224.002 (high\056) -302.004 (W) 79.9866 (e) ] TJ
T*
[ (will) -250.012 (refer) -250.017 (to) -249.985 (this) -250.012 (probability) -249.993 (as) ] TJ
/R47 9.9626 Tf
123.415 0 Td
(success) Tj
/R37 9.9626 Tf
32.3691 0 Td
[ (probability) 65.0137 (\054) -249.993 (or) ] TJ
/R54 9.9626 Tf
58.848 0 Td
(P) Tj
/R103 6.9738 Tf
6.39687 -1.49414 Td
[ (s) -0.19605 ] TJ
/R37 9.9626 Tf
4.25781 1.49414 Td
(\056) Tj
-213.332 -12.207 Td
(Let) Tj
/R54 9.9626 Tf
15.418 0 Td
[ (s) -0.79889 ] TJ
/R37 9.9626 Tf
6.80781 0 Td
[ (be) -214.984 (a) -214.008 (solv) 15 (er) -214.991 (that) -213.989 (requires) -215.013 (a) -214.008 (minimal) -215.018 (set) -213.994 (of) ] TJ
/R54 9.9626 Tf
161.304 0 Td
[ (n) -0.20095 ] TJ
/R37 9.9626 Tf
8.11797 0 Td
(matches) Tj
-203.603 -11.9551 Td
(from) Tj
/R101 9.9626 Tf
22.448 0 Td
[ (M) -0.89936 ] TJ
/R103 6.9738 Tf
11.9637 -1.49414 Td
[ (r) -0.39909 ] TJ
/R37 9.9626 Tf
7.49219 1.49414 Td
(and) Tj
/R54 9.9626 Tf
17.4668 0 Td
(m) Tj
/R37 9.9626 Tf
11.8281 0 Td
[ (matches) -308.988 (from) ] TJ
/R101 9.9626 Tf
58.1762 0 Td
[ (M) -0.89691 ] TJ
/R103 6.9738 Tf
11.9641 -1.49414 Td
[ (p) -0.90321 ] TJ
/R37 9.9626 Tf
4.60469 1.49414 Td
[ (\056) -487.992 (Let) ] TJ
/R54 9.9626 Tf
23.7102 0 Td
[ (\042) -0.29897 ] TJ
/R103 6.9738 Tf
4.64609 -1.49414 Td
[ (r) -0.4061 ] TJ
/R37 9.9626 Tf
7.4918 1.49414 Td
(and) Tj
/R54 9.9626 Tf
17.4672 0 Td
[ (\042) -0.29897 ] TJ
/R103 6.9738 Tf
4.64609 -1.49414 Td
[ (p) -0.90321 ] TJ
/R37 9.9626 Tf
7.68477 1.49414 Td
[ (be) -309.007 (the) ] TJ
-211.59 -11.9551 Td
[ (true) -265.01 (inl) 1 (ier) -265.015 (ratios) -264.997 (of) -263.993 (the) -265.007 (sets) ] TJ
/R101 9.9626 Tf
109.888 0 Td
[ (M) -0.89691 ] TJ
/R103 6.9738 Tf
11.9641 -1.49492 Td
[ (r) -0.4061 ] TJ
/R37 9.9626 Tf
7.04688 1.49492 Td
(and) Tj
/R101 9.9626 Tf
17.0219 0 Td
[ (M) -0.89691 ] TJ
/R103 6.9738 Tf
11.9641 -1.49492 Td
[ (p) -0.90321 ] TJ
/R37 9.9626 Tf
4.60508 1.49492 Td
[ (\054) -267.99 (respecti) 24.986 (v) 14.9828 (ely) 65.0186 (\056) -354.014 (The) ] TJ
-162.49 -11.9551 Td
[ (probability) -299.982 (of) -299.006 (sampling) -299.984 (an) -299.009 (all\055inlier) -300.004 (minimal) -299.984 (s) 0.98513 (et) -299.984 (for) -299.989 (solv) 15.0024 (er) ] TJ
/R54 9.9626 Tf
11.9559 TL
T*
[ (s) -0.79889 ] TJ
/R37 9.9626 Tf
7.63281 0 Td
[ (at) -297.007 (an) 15.0171 (y) -297.985 (iteration) -296.982 (is) -298.016 (gi) 24.9885 (v) 14.9828 (en) -297.009 (by) ] TJ
/R54 9.9626 Tf
110.759 0 Td
[ (\042) -0.29897 ] TJ
/R103 6.9738 Tf
4.64609 3.61602 Td
[ (n) -0.20305 ] TJ
6.07813 TL
T*
[ (r) -0.4061 ] TJ
/R54 9.9626 Tf
5.42305 2.46211 Td
[ (\042) -0.29897 ] TJ
/R103 6.9738 Tf
4.64492 3.61602 Td
[ (m) -0.70017 ] TJ
T*
[ (p) -0.90321 ] TJ
/R37 9.9626 Tf
7.56797 2.46211 Td
[ (\056) -451.998 (The) -297.985 (probability) -297.004 (of) -297.009 (the) ] TJ
-140.674 -11.9551 Td
[ (solv) 15 (er) -408.018 (not) -407.993 (ha) 19.9967 (ving) -407.988 (seen) -408.008 (an) -408.01 (all\055inlier) -407.986 (set) -408 (by) -408.981 (iterati) 0.99493 (on) ] TJ
/R54 9.9626 Tf
216.095 0 Td
[ (k) -0.59794 ] TJ
/R103 6.9738 Tf
5.18594 -1.49414 Td
[ (s) -0.19605 ] TJ
/R37 9.9626 Tf
8.32383 1.49414 Td
(is) Tj
-229.605 -11.9551 Td
[ (gi) 24.9885 (v) 14.9828 (en) -333.983 (by) ] TJ
/R90 9.9626 Tf
38.3512 0 Td
[ (\050) -0.90181 (1) ] TJ
/R101 9.9626 Tf
11.6871 0 Td
[ <00> -0.79889 ] TJ
/R54 9.9626 Tf
10.5809 0 Td
[ (\042) -0.29897 ] TJ
/R103 6.9738 Tf
4.64492 3.61484 Td
[ (n) -0.19955 ] TJ
T*
[ (r) -0.39909 ] TJ
/R54 9.9626 Tf
5.42305 2.46289 Td
[ (\042) -0.29897 ] TJ
/R103 6.9738 Tf
4.64609 3.61484 Td
[ (m) -0.70017 ] TJ
T*
[ (p) -0.89971 ] TJ
/R90 9.9626 Tf
7.56797 2.46289 Td
[ (\051) -0.90181 ] TJ
/R103 6.9738 Tf
3.87383 3.61484 Td
[ (k) -0.29757 ] TJ
/R105 4.9813 Tf
4.23633 -0.9957 Td
(s) Tj
/R107 6.9738 Tf
3.83594 0.9957 Td
[ <00> -0.90321 ] TJ
/R109 6.9738 Tf
6.22695 0 Td
[ (1) -0.49712 ] TJ
/R37 9.9626 Tf
4.46875 -3.61484 Td
[ (\056) -561 (It) -334.018 (follo) 24.9958 (ws) -334.013 (then) -332.989 (that) -334.008 (the) -334.013 (proba\055) ] TJ
-105.543 -11.9551 Td
(bility) Tj
/R54 9.9626 Tf
23.2832 0 Td
(P) Tj
/R103 6.9738 Tf
6.39609 -1.49492 Td
[ (s) -0.19955 ] TJ
/R37 9.9626 Tf
6.5 1.49492 Td
[ (of) -225.019 (choosing) -224.987 (a) -224.987 (good) -225.002 (sample) -225.002 (at) -225.016 (iteration) ] TJ
/R54 9.9626 Tf
152.937 0 Td
[ (k) -0.59794 ] TJ
/R103 6.9738 Tf
5.18711 -1.49492 Td
[ (s) -0.19605 ] TJ
/R37 9.9626 Tf
6.5 1.49492 Td
[ (of) -225.021 (model) ] TJ
/R54 9.9626 Tf
-200.803 -11.9551 Td
[ (s) -0.79889 ] TJ
/R37 9.9626 Tf
7.16133 0 Td
[ (for) -250 (the) -249.99 <02727374> -250.012 (time) -250.015 (is) -249.985 (gi) 24.9885 (v) 14.9828 (en) -249.997 (by) ] TJ
/R54 9.9626 Tf
51.0008 -22.4207 Td
(P) Tj
/R103 6.9738 Tf
6.39609 -1.49531 Td
[ (s) -0.19955 ] TJ
/R90 9.9626 Tf
7.02617 1.49531 Td
[ (\075) -0.79889 ] TJ
/R54 9.9626 Tf
10.5156 0 Td
[ (\042) -0.29897 ] TJ
/R103 6.9738 Tf
4.64609 4.11289 Td
[ (n) -0.19955 ] TJ
6.57617 TL
T*
[ (r) -0.39909 ] TJ
/R54 9.9626 Tf
5.42305 2.46328 Td
[ (\042) -0.29897 ] TJ
/R103 6.9738 Tf
4.64609 4.11289 Td
[ (m) -0.70017 ] TJ
T*
[ (p) -0.90321 ] TJ
/R90 9.9626 Tf
7.5668 2.46289 Td
[ (\050) -0.90181 (1) ] TJ
/R101 9.9626 Tf
11.0703 0 Td
[ <00> -0.80379 ] TJ
/R54 9.9626 Tf
9.96289 0 Td
[ (\042) -0.29897 ] TJ
/R103 6.9738 Tf
4.64492 4.11289 Td
[ (n) -0.20305 ] TJ
T*
[ (r) -0.4061 ] TJ
/R54 9.9626 Tf
5.42305 2.46289 Td
[ (\042) -0.29897 ] TJ
/R103 6.9738 Tf
4.64609 4.11289 Td
[ (m) -0.70017 ] TJ
T*
[ (p) -0.90321 ] TJ
/R90 9.9626 Tf
7.56797 2.46289 Td
[ (\051) -0.90181 ] TJ
/R103 6.9738 Tf
3.87383 4.11289 Td
[ (k) -0.30107 ] TJ
/R105 4.9813 Tf
4.23594 -0.9957 Td
[ (s) -0.10783 ] TJ
/R107 6.9738 Tf
3.83594 0.9957 Td
[ <00> -0.90321 ] TJ
/R109 6.9738 Tf
6.22734 0 Td
[ (1) -0.49712 ] TJ
/R54 9.9626 Tf
9.45 -4.11289 Td
[ (\072) -0.80379 ] TJ
/R37 9.9626 Tf
49.3137 0 Td
(\0501\051) Tj
-224.634 -22.4219 Td
[ (Since) -403.014 (the) -402.004 (true) -402.987 (inlier) -403.011 (ratios) -401.992 (are) -403.001 (unkno) 25 (wn\054) -441.015 (the) 14.9877 (y) -402.006 (can) -402.996 (be) -402.992 (re\055) ] TJ
11.9551 TL
T*
[ (placed) -342.997 (by) -342.012 (the) -342.994 (estimated) -341.99 (inlier) -342.982 (ratios) ] TJ
/R90 9.9626 Tf
150.632 0 Td
(\136) Tj
/R54 9.9626 Tf
-0.66289 0 Td
[ (\042) -0.29897 ] TJ
/R103 6.9738 Tf
4.64609 -1.49414 Td
[ (r) -0.4061 ] TJ
/R37 9.9626 Tf
7.82383 1.49414 Td
(and) Tj
/R90 9.9626 Tf
18.4621 0 Td
(\136) Tj
/R54 9.9626 Tf
-0.66289 0 Td
[ (\042) -0.29897 ] TJ
/R103 6.9738 Tf
4.6457 -1.49414 Td
[ (p) -0.90321 ] TJ
/R37 9.9626 Tf
8.01836 1.49414 Td
[ (of) -343.002 (the) -342.012 (best) ] TJ
-192.902 -11.9551 Td
[ (model) -417.984 (found) -417.011 (so) -417.996 (f) 9.99588 (ar) 55.0031 (\056) -813 (In) -418.006 (order) -416.989 (to) -417.999 (compute) ] TJ
/R54 9.9626 Tf
178.516 0 Td
(P) Tj
/R103 6.9738 Tf
6.39727 -1.49375 Td
[ (s) -0.19605 ] TJ
/R37 9.9626 Tf
4.25781 1.49375 Td
[ (\054) -459.997 (RANSA) 39.9884 (C) ] TJ
-189.171 -11.9551 Td
[ (needs) -217.995 (to) -217.991 (k) 10.0032 (eep) -216.986 (track) -218.003 (of) -218 (ho) 24.986 (w) -217.998 (man) 14.9926 (y) -217.998 (times) -216.993 (each) -218.013 (solv) 15.0024 (er) -218.013 (has) -217.998 (been) ] TJ
T*
[ (chosen) -304.015 (in) -304.996 (the) -303.981 (past\056) -473.002 (Therefore\054) -317.991 (for) -303.988 (each) -303.998 (solv) 15.0024 (er) ] TJ
/R54 9.9626 Tf
188.031 0 Td
[ (s) -0.79889 ] TJ
/R37 9.9626 Tf
4.66992 0 Td
[ (\054) -317.981 (a) -303.993 (number) ] TJ
-192.701 -11.9551 Td
[ (of) -386.012 (iterations) ] TJ
/R54 9.9626 Tf
53.0652 0 Td
[ (k) -0.60039 ] TJ
/R103 6.9738 Tf
5.18711 -1.49492 Td
[ (s) -0.19955 ] TJ
/R37 9.9626 Tf
8.10078 1.49492 Td
[ (has) -386.007 (to) -386.002 (be) -384.995 (stored\056) -718.017 (Notice) -384.98 (that) -386 (the) -386.004 (more) -384.985 (a) ] TJ
-66.3527 -11.9563 Td
[ (solv) 15 (er) -278 (is) -278.02 (used\054) -284.997 (the) -277.985 (less) -278.017 (lik) 10.0179 (ely) -277.983 (it) -278.017 (is) -278.017 (to) -277.983 (be) -279.012 (chosen) -278.017 (in) -277.983 (later) -277.993 (iter) 20.0016 (\055) ] TJ
T*
[ (ations\054) -367.007 (therefore) -343.987 (allo) 24.9909 (wing) -344.001 (RANSA) 39.9884 (C) -344.006 (to) -344.011 (e) 25.0105 (v) 14.9828 (entually) -343.992 (e) 15.0122 (xplore) ] TJ
T*
[ (pre) 25.013 (viously) -249.995 (unused) -250.015 (solv) 15 (ers\056) ] TJ
11.9547 -12.207 Td
[ (Another) -304.011 (f) 9.99588 (actor) -303.988 (that) -304.013 (should) -303.993 (af) 25.0056 (fect) -303.993 (the) -303.979 (choice) -303.984 (of) -303.988 (solv) 15.0024 (er) -303.998 (is) ] TJ
-11.9547 -11.9551 Td
[ (the) -257.989 (quality) -258.004 (of) -257.994 (the) -257.989 (solv) 15 (er) -258.004 (itself\054) ] TJ
/R47 9.9626 Tf
122.384 0 Td
(i\056e) Tj
/R37 9.9626 Tf
9.68398 0 Td
[ (\056) -257.991 (ho) 24.986 (w) -257.991 (accurate) -258.011 (is) -257.981 (the) -257.986 (solu\055) ] TJ
-132.068 -11.9551 Td
[ (tion) -250.992 (estimated) -250.985 (gi) 24.9885 (v) 14.9828 (en) -251.017 (an) -251.997 (all\055inlier) -250.992 (sample\056) -312.982 (Consequently) 64.9843 (\054) -251.992 (we) ] TJ
T*
[ (will) -339.017 (weight) -340 (the) -338.995 (computed) -339.992 (success) -338.992 (probability) -340.017 (with) -339.017 (a) -339.987 (prior) ] TJ
11.9563 TL
T*
[ (on) -316.996 (the) -316.999 (quality) -317.013 (of) -317.984 (the) -316.999 (solv) 15.0024 (er) 55 (\056) -511.008 (This) -316.981 (quality) -317.991 (prior) 40.0031 (\054) -333.979 (referred) -316.986 (to) ] TJ
11.9547 TL
(as) '
/R54 9.9626 Tf
10.4309 0 Td
(P) Tj
/R103 6.9738 Tf
6.39609 -1.49414 Td
[ (p) -0.89971 ] TJ
/R37 9.9626 Tf
4.60469 1.49414 Td
[ (\054) -221.019 (is) -213.991 (empirically) -214.008 (chosen) -213.989 (based) -213.994 (on) -213.994 (the) -213.994 (solv) 15.0024 (er\047) 55 (s) -213.999 (numerical) ] TJ
-21.4316 -11.9551 Td
[ (stability) -203.998 (and) -204 (the) -203.998 (size) -204 (of) -204.003 (it) 0.99493 (s) -204 (minimal) -204 (set\056) -295 (The) -204 (intuition) -203.99 (behind) ] TJ
T*
[ (this) -236.995 (being) -237.002 (that) -237.005 (the) -237.012 (more) -237.009 (matches) -235.98 (a) -236.985 (solv) 15.0024 (er) -236.99 (requires\054) -239.989 (the) -237.009 (more) ] TJ
T*
[ (it) -360.004 (will) -361.013 (be) -360.018 (af) 25.0081 (fected) -359.984 (by) -360.989 (their) -360.009 (noise\056) -641.011 (Therefore\054) -387.979 (we) -359.979 (rank) -360.999 (the) ] TJ
T*
[ (solv) 15 (ers) -210.987 (according) -211.014 (to) -211.011 (their) -211.011 (minimal) -211.019 (set) -211.014 (size) -211.019 (and) -211.019 (their) -211.014 (numeri\055) ] TJ
11.9563 TL
T*
[ (cal) -232.983 (stability) -233.013 (\050whi) 0.99248 (ch) -233.02 (is) -233.008 (analyzed) -233.015 (in) -233.01 (Sec\056) ] TJ
ET
Q
1 0 0 rg
q
10 0 0 10 0 0 cm
BT
/R37 9.9626 Tf
1 0 0 1 463.163 246.26 Tm
(5\0561) Tj
ET
Q
0 g
q
10 0 0 10 0 0 cm
BT
/R37 9.9626 Tf
1 0 0 1 475.616 246.26 Tm
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/R37 6.9738 Tf
4.1832 0.99727 Td
(\054) Tj
/R107 6.9738 Tf
3.48711 0 Td
[ (j) -0.29932 ] TJ
/R103 6.9738 Tf
2.36602 0 Td
[ (S) -0.50062 ] TJ
/R105 4.9813 Tf
4.8918 -0.99727 Td
[ (p) -0.70086 ] TJ
/R107 6.9738 Tf
4.1832 0.99727 Td
[ (j) -0.29932 ] TJ
/R109 6.9738 Tf
4.63398 0 Td
(\075) Tj
/R103 6.9738 Tf
8.38398 0 Td
[ (m) -0.70017 ] TJ
/R105 4.9813 Tf
7.06875 -0.99727 Td
(s) Tj
/R37 7.9701 Tf
-140.958 -6.97305 Td
(7\072) Tj
/R37 6.9738 Tf
20.6461 0 Td
[ (Compute) -250.005 (pose) ] TJ
/R103 6.9738 Tf
41.843 0 Td
[ <12> -0.09977 ] TJ
/R109 6.9738 Tf
6.27695 0 Td
(\075) Tj
/R103 6.9738 Tf
8.38398 0 Td
[ (s) -0.2013 ] TJ
/R109 6.9738 Tf
3.75977 0 Td
[ (\050) -0.39909 ] TJ
/R103 6.9738 Tf
3.11328 0 Td
[ (S) -0.50062 ] TJ
/R105 4.9813 Tf
4.89297 -0.99687 Td
[ (p) -0.70086 ] TJ
/R107 6.9738 Tf
5.99688 0.99687 Td
[ (\133) -0.79994 ] TJ
/R103 6.9738 Tf
7.1832 0 Td
[ (S) -0.50062 ] TJ
/R105 4.9813 Tf
4.8918 -0.99687 Td
[ (r) -0.29897 ] TJ
/R109 6.9738 Tf
4.01523 0.99687 Td
[ (\051) -0.39909 ] TJ
/R37 7.9701 Tf
-111.003 -7.97109 Td
(8\072) Tj
/R103 6.9738 Tf
20.6461 0 Td
[ (I) -0.3002 ] TJ
/R105 4.9813 Tf
3.53086 -0.9957 Td
[ (r) -0.30019 ] TJ
/R37 6.9738 Tf
5.75898 0.9957 Td
[ (\075) -249.984 (inlier) ] TJ
ET
Q
1054.23 6225.11 m
1075.15 6225.11 l
S
q
10 0 0 10 0 0 cm
BT
/R37 6.9738 Tf
1 0 0 1 107.516 622.311 Tm
(count\050) Tj
/R103 6.9738 Tf
17.818 0 Td
[ <12> -31.0873 (\073) -0.29932 ] TJ
/R107 6.9738 Tf
7.73594 0 Td
[ (M) -0.70017 ] TJ
/R105 4.9813 Tf
9.36328 -0.99609 Td
[ (r) -0.29897 ] TJ
/R103 6.9738 Tf
4.01484 0.99609 Td
[ (\073) -195.309 (\033) ] TJ
/R105 4.9813 Tf
8.34414 -0.99609 Td
[ (r) -0.29897 ] TJ
/R37 6.9738 Tf
4.01484 0.99609 Td
(\051) Tj
/R37 7.9701 Tf
-104.136 -7.96992 Td
(9\072) Tj
/R103 6.9738 Tf
20.6461 0 Td
[ (I) -0.3002 ] TJ
/R105 4.9813 Tf
3.53086 -0.99609 Td
[ (p) -0.69964 ] TJ
/R37 6.9738 Tf
5.92695 0.99609 Td
[ (\075) -249.984 (inlier) ] TJ
ET
Q
1055.91 6145.41 m
1076.83 6145.41 l
S
q
10 0 0 10 0 0 cm
BT
/R37 6.9738 Tf
1 0 0 1 107.683 614.341 Tm
(count\050) Tj
/R103 6.9738 Tf
17.8184 0 Td
[ <12> -31.0873 (\073) -0.29932 ] TJ
/R107 6.9738 Tf
7.73594 0 Td
[ (M) -0.70017 ] TJ
/R105 4.9813 Tf
9.36406 -0.99609 Td
[ (p) -0.70086 ] TJ
/R103 6.9738 Tf
4.18281 0.99609 Td
[ (\073) -195.309 (\033) ] TJ
/R105 4.9813 Tf
8.34297 -0.99609 Td
[ (p) -0.70086 ] TJ
/R37 6.9738 Tf
4.1832 0.99609 Td
(\051) Tj
/R37 7.9701 Tf
-108.624 -7.96992 Td
(10\072) Tj
/R103 6.9738 Tf
24.6313 0 Td
[ (I) -78.2741 (n) -0.19955 (l) -6.29361 (i) -0.20042 (er) -30.388 (s) -0.19955 ] TJ
/R109 6.9738 Tf
25.8297 0 Td
[ (\050) -0.39909 ] TJ
/R103 6.9738 Tf
3.11406 0 Td
[ <12> -0.09977 ] TJ
/R109 6.9738 Tf
4.00898 0 Td
[ (\051) -0.39909 ] TJ
/R107 6.9738 Tf
5.38125 0 Td
[ ( ) -0.89971 ] TJ
/R103 6.9738 Tf
10.2098 0 Td
[ (I) -0.29932 ] TJ
/R105 4.9813 Tf
3.53125 -0.99609 Td
[ (r) -0.29897 ] TJ
/R109 6.9738 Tf
5.82891 0.99609 Td
(\053) Tj
/R103 6.9738 Tf
7.93086 0 Td
[ (I) -0.29932 ] TJ
/R105 4.9813 Tf
3.53008 -0.99609 Td
[ (p) -0.70086 ] TJ
/R37 7.9701 Tf
-93.9961 -6.97383 Td
(11\072) Tj
/R109 6.9738 Tf
25.1711 0 Td
[ (\136) -0.49974 ] TJ
/R103 6.9738 Tf
-0.54023 0 Td
[ (\042) -0.69929 ] TJ
/R105 4.9813 Tf
3.76406 -0.99609 Td
[ (r) -0.30019 ] TJ
/R107 6.9738 Tf
6.2832 0.99609 Td
[ ( ) -0.90059 ] TJ
/R103 6.9738 Tf
10.2098 0 Td
[ (I) -0.3002 ] TJ
/R105 4.9813 Tf
3.53125 -0.99609 Td
[ (r) -0.29897 ] TJ
/R103 6.9738 Tf
4.01484 0.99609 Td
[ (\075) -0.29932 ] TJ
/R107 6.9738 Tf
4.08203 0 Td
[ (j) -0.29932 (M) -0.70017 ] TJ
/R105 4.9813 Tf
11.7301 -0.99609 Td
[ (r) -0.29897 ] TJ
/R107 6.9738 Tf
4.01484 0.99609 Td
[ (j) -0.29932 ] TJ
/R37 6.9738 Tf
2.36602 0 Td
(\054) Tj
/R109 6.9738 Tf
4.02695 0 Td
[ (\136) -0.50062 ] TJ
/R103 6.9738 Tf
-0.53984 0 Td
[ (\042) -0.70017 ] TJ
/R105 4.9813 Tf
3.76406 -0.99609 Td
[ (p) -0.70086 ] TJ
/R107 6.9738 Tf
6.45078 0.99609 Td
[ ( ) -0.89971 ] TJ
/R103 6.9738 Tf
10.2102 0 Td
[ (I) -0.29932 ] TJ
/R105 4.9813 Tf
3.53086 -0.99609 Td
[ (p) -0.70086 ] TJ
/R103 6.9738 Tf
4.1832 0.99609 Td
[ (\075) -0.29932 ] TJ
/R107 6.9738 Tf
4.08203 0 Td
[ (j) -0.29932 (M) -0.70017 ] TJ
/R105 4.9813 Tf
11.7289 -0.99609 Td
[ (p) -0.70086 ] TJ
/R107 6.9738 Tf
4.18281 0.99609 Td
[ (j) -0.29932 ] TJ
/R37 7.9701 Tf
-126.247 -7.96992 Td
(12\072) Tj
/R35 6.9738 Tf
24.6309 0 Td
(if) Tj
/R103 6.9738 Tf
6.00508 0 Td
[ (I) -78.2741 (n) -0.19955 (l) -5.28537 (i) -0.20042 (er) -31.3954 (s) -0.2013 ] TJ
/R109 6.9738 Tf
25.8301 0 Td
[ (\050) -0.39909 ] TJ
/R103 6.9738 Tf
3.11289 0 Td
[ <12> -0.09977 ] TJ
/R109 6.9738 Tf
4.00898 0 Td
[ (\051) -0.39909 ] TJ
/R103 6.9738 Tf
5.38125 0 Td
[ (\076) -325.895 (I) -78.2732 (n) -0.2013 (l) -6.29274 (i) -0.19955 (er) -30.3872 (s) -0.2013 ] TJ
/R109 6.9738 Tf
34.325 0 Td
[ (\050) -0.39909 ] TJ
/R103 6.9738 Tf
3.11289 0 Td
[ <12> -0.09977 ] TJ
/R152 4.9813 Tf
4.00898 3.00703 Td
[ <03> -0.10047 ] TJ
/R109 6.9738 Tf
4.16484 -3.00703 Td
[ (\051) -0.39909 ] TJ
/R35 6.9738 Tf
4.85703 0 Td
(then) Tj
/R37 7.9701 Tf
-119.438 -7.96992 Td
(13\072) Tj
/R103 6.9738 Tf
34.5941 0 Td
[ <12> -0.09977 ] TJ
/R152 4.9813 Tf
4.00898 3.00586 Td
[ <03> -0.10047 ] TJ
/R107 6.9738 Tf
6.43281 -3.00586 Td
[ ( ) -0.89971 ] TJ
/R103 6.9738 Tf
10.2102 0 Td
[ <12> -0.09977 ] TJ
/R37 7.9701 Tf
-55.2461 -7.97031 Td
(14\072) Tj
/R35 6.9738 Tf
34.5941 0 Td
[ (f) 24.9836 (or) -249.978 (all) ] TJ
/R103 6.9738 Tf
19.582 0 Td
[ (s) -0.2013 ] TJ
/R107 6.9738 Tf
6.02773 0 Td
[ (2) -325.778 (S) -0.19955 ] TJ
/R35 6.9738 Tf
14.7801 0 Td
(do) Tj
/R37 7.9701 Tf
-74.984 -7.96992 Td
(15\072) Tj
/R37 6.9738 Tf
44.557 0 Td
(Update) Tj
/R103 6.9738 Tf
21.8832 0 Td
[ (P) -0.30107 ] TJ
/R105 4.9813 Tf
5.07266 -0.99687 Td
(s) Tj
/R109 6.9738 Tf
3.83633 0.99687 Td
[ (\050) -0.39909 ] TJ
/R103 6.9738 Tf
3.11289 0 Td
[ (s) -0.2013 (\073) -0.29757 ] TJ
/R109 6.9738 Tf
8.02695 0 Td
[ (\136) -0.50062 ] TJ
/R103 6.9738 Tf
-0.53984 0 Td
[ (\042) -0.70017 ] TJ
/R105 4.9813 Tf
3.76367 -0.99687 Td
[ (r) -0.29897 ] TJ
/R103 6.9738 Tf
4.01523 0.99687 Td
[ (\073) -0.29932 ] TJ
/R109 6.9738 Tf
4.2668 0 Td
[ (\136) -0.50062 ] TJ
/R103 6.9738 Tf
-0.53984 0 Td
[ (\042) -0.70017 ] TJ
/R105 4.9813 Tf
3.76406 -0.99687 Td
[ (p) -0.70086 ] TJ
/R109 6.9738 Tf
4.18281 0.99687 Td
[ (\051) -0.39909 ] TJ
/R37 6.9738 Tf
4.85703 0 Td
[ (using) -250.027 (\050) ] TJ
ET
Q
1 0 0 rg
q
10 0 0 10 0 0 cm
BT
/R37 6.9738 Tf
1 0 0 1 180.123 566.521 Tm
(1) Tj
ET
Q
0 g
q
10 0 0 10 0 0 cm
BT
/R37 6.9738 Tf
1 0 0 1 183.61 566.521 Tm
(\051) Tj
/R37 7.9701 Tf
-132.924 -7.96992 Td
(16\072) Tj
/R37 6.9738 Tf
44.557 0 Td
(Update) Tj
/R154 6.9738 Tf
21.8832 0 Td
[ (K) -0.39909 ] TJ
/R105 4.9813 Tf
6.99766 -0.99687 Td
(s) Tj
/R37 6.9738 Tf
5.5793 0.99687 Td
[ (using) -250.027 (\050) ] TJ
ET
Q
1 0 0 rg
q
10 0 0 10 0 0 cm
BT
/R37 6.9738 Tf
1 0 0 1 148.881 558.551 Tm
(2) Tj
ET
Q
0 g
q
10 0 0 10 0 0 cm
BT
/R37 6.9738 Tf
1 0 0 1 152.368 558.551 Tm
(\051) Tj
/R37 7.9701 Tf
-101.682 -7.97109 Td
(17\072) Tj
/R35 6.9738 Tf
44.557 0 Td
(if) Tj
/R103 6.9738 Tf
6.00391 0 Td
[ (k) -0.30107 ] TJ
/R105 4.9813 Tf
4.23516 -0.9957 Td
(s) Tj
/R107 6.9738 Tf
6.10391 0.9957 Td
[ <15> -0.89971 ] TJ
/R154 6.9738 Tf
8.49492 0 Td
[ (K) -0.39909 ] TJ
/R105 4.9813 Tf
6.99727 -0.9957 Td
(s) Tj
/R35 6.9738 Tf
5.57969 0.9957 Td
(then) Tj
/R37 7.9701 Tf
-81.9719 -7.96992 Td
(18\072) Tj
/R35 6.9738 Tf
54.5191 0 Td
[ (r) 18.0188 (etur) 14.9923 (n) ] TJ
/R37 6.9738 Tf
22.623 0 Td
[ (best) -249.984 (model) ] TJ
/R103 6.9738 Tf
32.1559 0 Td
[ <12> -0.09977 ] TJ
/R152 4.9813 Tf
4.01016 3.00703 Td
[ <03> -0.10047 ] TJ
ET
Q
501.121 5385.14 m
2863.62 5385.14 l
S
q
10 0 0 10 0 0 cm
BT
/R37 9.9626 Tf
1 0 0 1 50.1121 522.365 Tm
[ (Thus\054) -312.984 (our) -299.982 (RANSA) 39.9897 (C) -300.015 (v) 24.9811 (ariant) -299.982 (stops) -299.999 (when) -299.982 (at) -299.987 (least) -300.016 (one) -299.984 (solv) 15 (er) ] TJ
/R54 9.9626 Tf
11.9559 TL
T*
[ (s) -0.80011 ] TJ
/R37 9.9626 Tf
7.56875 0 Td
[ (has) -291.004 (been) -291.009 (chosen) ] TJ
/R111 9.9626 Tf
68.4531 0 Td
[ (K) -0.39944 ] TJ
/R103 6.9738 Tf
8.98008 -1.49414 Td
[ (s) -0.2013 ] TJ
/R37 9.9626 Tf
7.15781 1.49414 Td
[ (times\054) -301.017 (as) -291.009 (this) -290.985 (means) -290.996 (that) -290.996 (a) -291.015 (good) -290.991 (so\055) ] TJ
-92.1598 -11.9551 Td
[ (lution) -232.983 (for) -232.982 (the) -233.012 (current) -231.998 (inlier) -233.002 (ratios) -233.002 (has) -233.013 (been) -233.017 (found) -233.003 (with) -232.998 (prob\055) ] TJ
11.9547 TL
(ability) '
/R54 9.9626 Tf
29.2867 0 Td
(P) Tj
/R37 9.9626 Tf
7.78008 0 Td
[ (\056) -711.016 (Note) -384.003 (that) -383.019 (at) -384.012 (e) 25.0105 (v) 14.9828 (ery) -384.017 (iteration\054) -417 (the) -384.007 (number) -383.015 (of) -384.012 (it\055) ] TJ
-37.0668 -11.9551 Td
(erations) Tj
/R54 9.9626 Tf
34.8707 0 Td
[ (k) -0.59978 ] TJ
/R103 6.9738 Tf
5.18711 -1.49492 Td
[ (s) -0.19955 ] TJ
/R37 9.9626 Tf
7.58906 1.49492 Td
[ (for) -333.985 (the) -334.996 (l) 0.98758 (ast) -334.994 (chosen) -334.01 (solv) 15.0012 (er) ] TJ
/R54 9.9626 Tf
106.144 0 Td
[ (s) -0.79889 ] TJ
/R37 9.9626 Tf
8.00078 0 Td
[ (has) -334.015 (to) -334.01 (be) -335.003 (updated\054) ] TJ
-161.792 -11.9551 Td
[ (and\054) -279.985 (if) -273.99 (the) -275.005 (m) 0.99248 (odel) -275 (found) -274.016 (is) -274.019 (better) -273.986 (than) -273.981 (the) -273.986 (best) -274.998 (model) -274.008 (found) ] TJ
T*
[ (so) -352.009 (f) 9.99527 (ar) 39.986 (\054) -378.013 (the) -352.012 (maximum) -352.01 (number) -352 (of) -352.018 (iterations) ] TJ
/R111 9.9626 Tf
175.114 0 Td
[ (K) -0.40189 ] TJ
/R103 6.9738 Tf
8.98086 -1.49492 Td
[ (s) -0.19955 ] TJ
/R152 4.9813 Tf
3.76016 1.99297 Td
[ (0) -1 ] TJ
/R37 9.9626 Tf
6.70078 -0.49805 Td
[ (is) -352.007 (updated) ] TJ
-194.556 -11.9559 Td
[ (for) -305.989 (all) -306.018 (solv) 15.0012 (ers) ] TJ
/R54 9.9626 Tf
58.8039 0 Td
[ (s) -0.80011 ] TJ
/R107 6.9738 Tf
4.66992 3.61602 Td
[ (0) -0.39909 ] TJ
/R101 9.9626 Tf
6.59922 -3.61602 Td
[ (2) -382.687 (S) -0.60039 ] TJ
/R37 9.9626 Tf
17.225 0 Td
[ (\056) -479.016 (The) -305.983 (chosen) -306.015 (termination) -305.983 (criterion) -306.01 (is) ] TJ
-87.298 -11.9551 Td
[ (optimistic) -363.997 (in) -364.005 (the) -364.991 (sense) -364.009 (that) -364.003 (it) -364.003 (stops) -365.008 (as) -364.015 (soon) -363.996 (as) -364.015 (one) -364.993 (solv) 15 (er) ] TJ
T*
[ (is) -269.981 <026e69736865642e> -372.015 (Its) -269.984 (pessimist) -269.981 (counterpart) -270.999 (w) 10 (ould) -270.011 (ha) 19.9967 (v) 14.9828 (e) -271.018 (RANSA) 39.9909 (C) ] TJ
T*
[ (run) -279.006 (for) -279.013 (as) -279.01 (long) -278.99 (as) -277.992 (necessary) -279.011 (for) -279.013 (each) -278.982 (solv) 15 (er) -278.98 (to) -279 (complete) -278.988 (its) ] TJ
T*
[ (iterations\056) -434.99 (W) 79.9879 (e) -291.995 (ar) 17.9896 (gue) -291.004 (that) -292.015 (this) -292.004 (is) -290.997 (unnecessary) 64.9818 (\054) -301.986 (as) -291.988 (this) -292.005 (w) 10 (ould) ] TJ
11.9559 TL
T*
[ (require) -339.981 (RANSA) 39.9897 (C) -338.989 (to) -340.009 (w) 10 (ait) -340.012 (for) -339.984 (the) -338.995 (most) -339.992 (unsuited) -339.985 (solv) 15 (ers) -339.985 (to) ] TJ
11.9551 TL
T*
[ <026e697368> -365 (e) 25.0111 (v) 14.9828 (en) -364.017 (though) -365.005 (their) -364.005 (chances) -365 (of) -364.016 <026e64696e67> -364.995 (a) -363.983 (v) 24.9811 (alid) -364.983 (model) ] TJ
T*
[ (are) -361.99 (v) 14.9828 (ery) -361.981 (lo) 24.9885 (w) -362.015 (\050therefore) -361.007 (needing) -362 (more) -362.008 (iterations\051\056) -646.017 (Indeed\054) ] TJ
T*
[ (when) -243.99 (a) -244.983 (solv) 15.0012 (er) -244.006 (is) -245.004 (called) -243.992 (v) 14.9828 (ery) -244.981 (fe) 25.0081 (w) -243.996 (times\054) -244.987 (it) -245.003 (is) -243.986 (usually) -244.986 (because) ] TJ
T*
[ (it) -342.987 (relies) -342.013 (on) -342.992 (the) -342.014 (set) -342.993 (of) -343 (matches) -342.004 (with) -343.019 (the) -342.994 (lo) 24.9885 (west) -342.009 (inlier) -342.982 (ratio\054) ] TJ
T*
[ (therefore) -301.994 (it) -302.994 (is) -302.015 (unsuited) -301.992 (for) -303.009 (this) -302.002 (particular) -302.016 (data\056) -467.015 (In) -303.006 (practice\054) ] TJ
11.9563 TL
T*
[ (the) -263.007 (optimistic) -262.014 (criterion) -263 (allo) 24.9909 (ws) -263.006 (for) -263.016 (a) -262 (good) -262.995 (trade\055of) 25.013 (f) -263.017 (between) ] TJ
11.9547 TL
T*
[ (accurac) 14.9969 (y) -394.988 (and) -396.006 (run\055time\054) -432.017 (as) -394.992 (will) -395.988 (be) -394.992 (sho) 24.9934 (wn) -394.986 (in) -396 (Sec\056) ] TJ
ET
Q
1 0 0 rg
q
10 0 0 10 0 0 cm
BT
/R37 9.9626 Tf
1 0 0 1 255.959 295.216 Tm
(5) Tj
ET
Q
0 g
q
10 0 0 10 0 0 cm
BT
/R37 9.9626 Tf
1 0 0 1 260.94 295.216 Tm
[ (\056) -747.01 (Our) ] TJ
-210.828 -11.9551 Td
[ (RANSA) 39.9903 (C) -249.984 (v) 24.9811 (ariant) -249.99 (is) -249.984 (presented) -249.985 (in) -249.985 (Alg\056) ] TJ
ET
Q
1 0 0 rg
q
10 0 0 10 0 0 cm
BT
/R37 9.9626 Tf
1 0 0 1 202.49 283.261 Tm
(1) Tj
ET
Q
0 g
q
10 0 0 10 0 0 cm
BT
/R37 9.9626 Tf
1 0 0 1 207.471 283.261 Tm
(\056) Tj
/R35 11.9552 Tf
-157.359 -26.9141 Td
[ (4\056) -249.99 (Hybrid) -249.998 (Minimal) -250 (Solv) 10.0034 (ers) ] TJ
/R37 9.9626 Tf
11.9551 -19.9301 Td
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/R47 9.9626 Tf
187.942 0 Td
(c\056f) Tj
/R37 9.9626 Tf
11.1383 0 Td
[ (\056) -323.983 (Alg\056) ] TJ
ET
Q
1 0 0 rg
q
10 0 0 10 0 0 cm
BT
/R37 9.9626 Tf
1 0 0 1 275.573 224.462 Tm
(1) Tj
ET
Q
0 g
q
10 0 0 10 0 0 cm
BT
/R37 9.9626 Tf
1 0 0 1 280.554 224.462 Tm
(\051\056) Tj
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/R54 9.9626 Tf
101.007 0 Td
[ (n) -0.19972 ] TJ
/R37 9.9626 Tf
9.60977 0 Td
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/R54 9.9626 Tf
85.5891 0 Td
(m) Tj
/R37 9.9626 Tf
12.3781 0 Td
(2D\0553D) Tj
-208.584 -11.9551 Td
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/R90 9.9626 Tf
72.3027 0 Td
(2) Tj
/R54 9.9626 Tf
4.98125 0 Td
(m) Tj
/R90 9.9626 Tf
10.4527 0 Td
[ (\053) -0.80011 ] TJ
/R54 9.9626 Tf
9.4543 0 Td
[ (n) -0.19972 ] TJ
/R37 9.9626 Tf
8.33281 0 Td
[ (constraints\072) -303.003 (A) -235.997 (2D\0552D) -237.007 (ma) 0.98758 (tch) -237.012 (will) ] TJ
-105.524 -11.9563 Td
[ (pro) 14.9846 (vide) -340.989 (1) -340.997 (algebra) 0.98145 (ic) -341 (constraint) -341.01 (on) -340.992 (the) -340.014 (pose) -340.99 (while) -340.985 (a) -341.007 (2D\0553D) ] TJ
11.9547 TL
T*
[ (match) -292.014 (will) -290.986 (pro) 14.9852 (vide) -292.017 (2) -291.005 (constraints\056) -434.986 (If) ] TJ
/R54 9.9626 Tf
146.265 0 Td
[ (d) -0.49992 ] TJ
/R37 9.9626 Tf
8.08984 0 Td
[ (is) -292.017 (the) -291.003 (number) -292.01 (of) -291.008 (de\055) ] TJ
-154.355 -11.9551 Td
[ (grees) -333.984 (of) -333.982 (freedom) -334.015 (of) -333.982 (the) -334.015 (camera) -333.992 (pose\054) -354.985 (we) -333.986 (are) -333.996 (interested) -334 (in) ] TJ
T*
[ (the) -332.995 (cases) -331.984 (where) ] TJ
/R90 9.9626 Tf
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(2) Tj
/R54 9.9626 Tf
4.98203 0 Td
(m) Tj
/R90 9.9626 Tf
11.5707 0 Td
[ (\053) -0.80011 ] TJ
/R54 9.9626 Tf
10.5723 0 Td
[ (n) -0.19972 ] TJ
/R90 9.9626 Tf
10.2719 0 Td
[ (\075) -0.80011 ] TJ
/R54 9.9626 Tf
12.041 0 Td
[ (d) -0.49992 ] TJ
/R37 9.9626 Tf
5.18516 0 Td
(\054) Tj
/R47 9.9626 Tf
6.00977 0 Td
(i\056e) Tj
/R37 9.9626 Tf
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[ (\056\054) -352.995 (minimal) -332.996 (problems\056) -557.99 (In) ] TJ
-137.792 -11.9551 Td
[ (this) -314 (paper) -315.008 (we) -313.988 (will) -314.002 (focus) -314.998 (on) ] TJ
/R90 9.9626 Tf
113.974 0 Td
(4) Tj
/R37 9.9626 Tf
8.11289 0 Td
[ (dif) 24.9848 (ferent) -313.989 (pose) -314.994 (problems\054) -329.989 (de\055) ] TJ
-122.087 -11.9559 Td
[ (pending) -311.019 (on) -310.017 (what) -310.996 (is) -310.013 (assumed) -310.981 (as) -311.006 (prior) -310.016 (kno) 24.9909 (wledge) -310.995 (re) 15.0098 (g) 4.98446 (arding) ] TJ
T*
[ (the) -308.019 (pose) -306.996 (\050) ] TJ
/R47 9.9626 Tf
39.882 0 Td
(c\056f) Tj
/R37 9.9626 Tf
11.1379 0 Td
[ (\056) -307.985 (T) 79.9903 (able) ] TJ
ET
Q
1 0 0 rg
q
10 0 0 10 0 0 cm
BT
/R37 9.9626 Tf
1 0 0 1 131.638 116.865 Tm
(1) Tj
ET
Q
0 g
q
10 0 0 10 0 0 cm
BT
/R37 9.9626 Tf
1 0 0 1 136.619 116.865 Tm
[ (\051\056) -483.019 (The) -307.983 <02727374> -306.983 (problem\054) -321.995 (referred) -308.01 (here) -307.995 (as) ] TJ
/R35 8.9664 Tf
-86.2828 -11.9551 Td
(P) Tj
/R35 7.1731 Tf
5.92695 0 Td
[ (R) -32.0105 (O) -61.9984 (B) -60.9798 (L) -62.0145 (E) -62.0145 (M) ] TJ
/R156 8.9664 Tf
36.1539 0 Td
[ (6) -0.69977 ] TJ
/R35 8.9664 Tf
5.5293 0 Td
(\055) Tj
/R35 7.9701 Tf
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/R35 6.3761 Tf
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(O) Tj
/R35 7.9701 Tf
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/R37 9.9626 Tf
5.06875 0 Td
[ (\054) -233.017 (is) -227.988 (the) -227.994 (case) -228.009 (of) -228 (a) -228.986 (generalized) -227.996 (camera) -228.009 (where) ] TJ
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/R54 9.9626 Tf
210.309 0 Td
[ (d) -0.49992 ] TJ
/R90 9.9626 Tf
7.95273 0 Td
[ (\075) -278.784 (6) ] TJ
/R37 9.9626 Tf
15.4973 0 Td
(\056) Tj
-233.759 -11.9547 Td
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258.75 629.037 Td
[ (mation) -278 (is) -277 (a) -277.998 <73706563690263> -276.993 (case) -278 (of) -277.013 (this) -278.008 (problem\056) ] TJ
/R35 8.9664 Tf
168.21 0 Td
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[ (R) -32.0139 (O) -62 (B) -60.9781 (L) -62.0128 (E) -62.0128 (M) ] TJ
/R156 8.9664 Tf
36.5969 0 Td
[ (4) -0.70249 ] TJ
/R35 8.9664 Tf
5.52891 0 Td
(\055) Tj
/R35 7.9701 Tf
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(D) Tj
/R35 6.3761 Tf
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(O) Tj
/R35 7.9701 Tf
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(F) Tj
/R37 9.9626 Tf
-231.181 -11.9547 Td
(has) Tj
/R54 9.9626 Tf
16.3648 0 Td
[ (d) -0.49992 ] TJ
/R90 9.9626 Tf
9.05195 0 Td
[ (\075) -388.805 (4) ] TJ
/R37 9.9626 Tf
19.682 0 Td
[ (and) -309.983 (refers) -309.02 (to) -310.014 (the) ] TJ
/R47 9.9626 Tf
69.3242 0 Td
(upright) Tj
/R37 9.9626 Tf
32.6039 0 Td
[ (case) -309.992 (of) -309.007 (a) -309.992 (kno) 24.9909 (wn\055scale) ] TJ
-147.027 -11.9551 Td
(camera\054) Tj
/R47 9.9626 Tf
34.4719 0 Td
(i\056e) Tj
/R37 9.9626 Tf
9.68398 0 Td
[ (\056\054) -323 (where) -309.012 (the) -308.02 (v) 14.9828 (ertical) -309.002 (direction) -308.003 (is) -308.993 (kno) 24.9909 (wn\056) ] TJ
/R35 8.9664 Tf
166.298 0 Td
(P) Tj
/R35 7.1731 Tf
5.92695 0 Td
[ (R) -32.0139 (O) -62 (B) ] TJ
/R35 8.9664 Tf
16.659 0 Td
(\055) Tj
/R35 7.1731 Tf
-232.816 -11.9551 Td
[ (L) -62.0162 (E) -62.0162 (M) ] TJ
/R156 8.9664 Tf
19.7941 0 Td
[ (7) -0.69977 ] TJ
/R35 8.9664 Tf
5.53008 0 Td
(\055) Tj
/R35 7.9701 Tf
3.40898 0 Td
(D) Tj
/R35 6.3761 Tf
6.15273 0 Td
(O) Tj
/R35 7.9701 Tf
5.35508 0 Td
(F) Tj
/R37 9.9626 Tf
7.67617 0 Td
[ (is) -261.983 (the) -261.008 (problem) -262.01 (where) -261.02 (we) -261.995 (do) -261.986 (not) -260.996 (kno) 24.9909 (w) -261.991 (the) -261.986 (scale) ] TJ
-48.141 -11.9559 Td
[ (of) -315.984 (the) -316.018 (generalized) -315.982 (camera) -315.016 (w) 65.0137 (\056r) 55.0104 (\056t\056) -316.016 (to) -316.016 (the) -316.016 (map\056) -508.018 (Thus\054) -331.999 (for) -315.986 (this) ] TJ
11.9551 TL
(problem) '
/R54 9.9626 Tf
36.602 0 Td
[ (d) -0.49992 ] TJ
/R90 9.9626 Tf
9.63203 0 Td
[ (\075) -446.796 (7) ] TJ
/R37 9.9626 Tf
17.177 0 Td
[ (\056) -582.998 (Finally) -341 (with) ] TJ
/R54 9.9626 Tf
61.041 0 Td
[ (d) -0.49992 ] TJ
/R90 9.9626 Tf
9.63203 0 Td
[ (\075) -446.798 (5) ] TJ
/R37 9.9626 Tf
17.1758 0 Td
(\054) Tj
/R35 8.9664 Tf
6.33906 0 Td
(P) Tj
/R35 7.1731 Tf
5.92695 0 Td
[ (R) -32.0139 (O) -62 (B) -60.9781 (L) -62.0128 (E) -62.0128 (M) ] TJ
/R156 8.9664 Tf
37.1652 0 Td
[ (5) -0.70249 ] TJ
/R35 8.9664 Tf
5.53008 0 Td
(\055) Tj
/R35 7.9701 Tf
3.40898 0 Td
(D) Tj
/R35 6.3761 Tf
6.15273 0 Td
(O) Tj
/R35 7.9701 Tf
5.35625 0 Td
(F) Tj
/R37 9.9626 Tf
8.46602 0 Td
(is) Tj
-229.605 -11.9551 Td
[ (the) -324.997 (upright) -325.012 (v) 14.9828 (ersion) -324.99 (of) ] TJ
/R35 8.9664 Tf
91.6168 0 Td
(P) Tj
/R35 7.1731 Tf
5.92734 0 Td
[ (R) -32.0139 (O) -62 (B) -60.9781 (L) -62.0128 (E) -62.0128 (M) ] TJ
/R156 8.9664 Tf
37.023 0 Td
[ (7) -0.70249 ] TJ
/R35 8.9664 Tf
5.52969 0 Td
(\055) Tj
/R35 7.9701 Tf
3.40898 0 Td
(D) Tj
/R35 6.3761 Tf
6.15313 0 Td
(O) Tj
/R35 7.9701 Tf
5.35586 0 Td
(F) Tj
/R37 9.9626 Tf
5.06914 0 Td
(\054) Tj
/R47 9.9626 Tf
5.9168 0 Td
(i\056e) Tj
/R37 9.9626 Tf
9.6832 0 Td
[ (\056\054) -344.016 (we) -325.005 (kno) 24.9909 (w) -325 (the) ] TJ
-175.684 -11.9551 Td
[ (v) 14.9828 (ertical) -249.993 (direction) -250.012 (b) 20.0016 (ut) -249.985 (not) -250.02 (the) -249.988 (scale\056) ] TJ
ET
Q
3593.51 6215.7 m
5148.63 6215.7 l
S
3593.51 6127.78 m
3593.51 6217.69 l
S
q
10 0 0 10 0 0 cm
BT
/R35 7.9701 Tf
1 0 0 1 362.34 610.885 Tm
[ (U) -750.005 (S) ] TJ
ET
Q
3814.92 6127.78 m
3814.92 6217.69 l
S
q
10 0 0 10 0 0 cm
BT
/R37 7.9701 Tf
1 0 0 1 384.481 615.475 Tm
[ (\043) -250.019 (Matches) ] TJ
ET
Q
4204.5 6127.78 m
4204.5 6217.69 l
S
q
10 0 0 10 0 0 cm
BT
/R37 7.9701 Tf
1 0 0 1 427.045 610.885 Tm
(Name) Tj
ET
Q
4526.72 6127.78 m
4526.72 6217.69 l
S
q
10 0 0 10 0 0 cm
BT
/R37 7.9701 Tf
1 0 0 1 455.661 610.885 Tm
(Reference) Tj
ET
Q
4909.53 6127.78 m
4909.53 6217.69 l
S
q
10 0 0 10 0 0 cm
BT
/R37 7.9701 Tf
1 0 0 1 493.941 615.475 Tm
(Num\056) Tj
1.10391 -8.99102 Td
(Sols\056) Tj
ET
Q
5148.63 6127.78 m
5148.63 6217.69 l
S
3593.51 6037.87 m
3593.51 6127.78 l
S
3814.92 6037.87 m
3814.92 6127.78 l
S
q
10 0 0 10 0 0 cm
BT
/R37 7.9701 Tf
1 0 0 1 384.481 606.484 Tm
[ (2D) -1222 (3D) ] TJ
ET
Q
4204.5 6037.87 m
4204.5 6127.78 l
S
4526.72 6037.87 m
4526.72 6127.78 l
S
4909.53 6037.87 m
4909.53 6127.78 l
S
5148.63 6037.87 m
5148.63 6127.78 l
S
3391.11 6035.88 m
5148.63 6035.88 l
S
3391.11 5938.02 m
3391.11 6033.89 l
S
q
10 0 0 10 0 0 cm
BT
/R35 6.9738 Tf
0 1 -1 0 346.79 570.811 Tm
(P) Tj
/R35 5.5791 Tf
4.61016 0 Td
[ (R) -31.9972 (O) -61.9815 (B) -61.0275 (L) -62.0077 (E) -62.0077 (M) ] TJ
/R154 6.9738 Tf
-1.54297 -9.46484 Td
[ (6) -0.19605 ] TJ
/R35 6.9738 Tf
4.68789 0 Td
[ (\055) -50.0198 (D) ] TJ
/R35 5.5791 Tf
8.05391 0 Td
(O) Tj
/R35 6.9738 Tf
4.68711 0 Td
(F) Tj
ET
Q
3593.51 5938.02 m
3593.51 6033.89 l
S
3814.92 5938.02 m
3814.92 6033.89 l
S
q
10 0 0 10 0 0 cm
BT
/R37 7.9701 Tf
1 0 0 1 387.358 596.499 Tm
[ (0) -1944 (3) ] TJ
ET
Q
4204.5 5938.02 m
4204.5 6033.89 l
S
q
10 0 0 10 0 0 cm
BT
/R37 7.9701 Tf
1 0 0 1 425.491 596.499 Tm
(\050g\051P3P) Tj
ET
Q
4526.72 5938.02 m
4526.72 6033.89 l
S
q
10 0 0 10 0 0 cm
BT
/R37 7.9701 Tf
1 0 0 1 459.674 596.499 Tm
(\133) Tj
ET
Q
0 1 0 rg
q
10 0 0 10 0 0 cm
BT
/R37 7.9701 Tf
1 0 0 1 462.328 596.499 Tm
(14) Tj
ET
Q
0 g
q
10 0 0 10 0 0 cm
BT
/R37 7.9701 Tf
1 0 0 1 470.298 596.499 Tm
(\054) Tj
ET
Q
0 1 0 rg
q
10 0 0 10 0 0 cm
BT
/R37 7.9701 Tf
1 0 0 1 473.327 596.499 Tm
(16) Tj
ET
Q
0 g
q
10 0 0 10 0 0 cm
BT
/R37 7.9701 Tf
1 0 0 1 481.297 596.499 Tm
(\135) Tj
ET
Q
4909.53 5938.02 m
4909.53 6033.89 l
S
q
10 0 0 10 0 0 cm
BT
/R37 7.9701 Tf
1 0 0 1 496.071 596.499 Tm
(4\0578) Tj
ET
Q
1 0 0 rg
q
10 0 0 10 0 0 cm
BT
/R37 5.9776 Tf
1 0 0 1 506.257 599.312 Tm
(1) Tj
ET
Q
5148.63 5938.02 m
5148.63 6033.89 l
S
3391.11 5848.1 m
3391.11 5938.01 l
S
3593.51 5848.1 m
3593.51 5938.01 l
S
3814.92 5848.1 m
3814.92 5938.01 l
S
0 g
q
10 0 0 10 0 0 cm
BT
/R37 7.9701 Tf
1 0 0 1 387.358 587.508 Tm
[ (2) -1944 (2) ] TJ
ET
Q
4204.5 5848.1 m
4204.5 5938.01 l
S
q
10 0 0 10 0 0 cm
BT
/R35 7.9701 Tf
1 0 0 1 429.476 587.508 Tm
(H22) Tj
ET
Q
4526.72 5848.1 m
4526.72 5938.01 l
S
q
10 0 0 10 0 0 cm
BT
/R37 7.9701 Tf
1 0 0 1 459.084 587.508 Tm
(Sec\056) Tj
ET
Q
1 0 0 rg
q
10 0 0 10 0 0 cm
BT
/R37 7.9701 Tf
1 0 0 1 474.578 587.508 Tm
(4\0562) Tj
ET
Q
4909.53 5848.1 m
4909.53 5938.01 l
S
0 g
q
10 0 0 10 0 0 cm
BT
/R37 7.9701 Tf
1 0 0 1 498.923 587.508 Tm
(16) Tj
ET
Q
5148.63 5848.1 m
5148.63 5938.01 l
S
3391.11 5758.19 m
3391.11 5848.1 l
S
3593.51 5758.19 m
3593.51 5848.1 l
S
3814.92 5758.19 m
3814.92 5848.1 l
S
q
10 0 0 10 0 0 cm
BT
/R37 7.9701 Tf
1 0 0 1 387.358 578.516 Tm
[ (4) -1944 (1) ] TJ
ET
Q
4204.5 5758.19 m
4204.5 5848.1 l
S
q
10 0 0 10 0 0 cm
BT
/R35 7.9701 Tf
1 0 0 1 429.476 578.516 Tm
(H41) Tj
ET
Q
4526.72 5758.19 m
4526.72 5848.1 l
S
q
10 0 0 10 0 0 cm
BT
/R37 7.9701 Tf
1 0 0 1 459.084 578.516 Tm
(Sec\056) Tj
ET
Q
1 0 0 rg
q
10 0 0 10 0 0 cm
BT
/R37 7.9701 Tf
1 0 0 1 474.578 578.516 Tm
(4\0562) Tj
ET
Q
4909.53 5758.19 m
4909.53 5848.1 l
S
0 g
q
10 0 0 10 0 0 cm
BT
/R37 7.9701 Tf
1 0 0 1 498.923 578.516 Tm
(32) Tj
ET
Q
5148.63 5758.19 m
5148.63 5848.1 l
S
3391.11 5662.32 m
3391.11 5758.19 l
S
3593.51 5662.32 m
3593.51 5758.19 l
S
3814.92 5662.32 m
3814.92 5758.19 l
S
q
10 0 0 10 0 0 cm
BT
/R37 7.9701 Tf
1 0 0 1 387.358 568.93 Tm
[ (6) -1944 (0) ] TJ
ET
Q
4204.5 5662.32 m
4204.5 5758.19 l
S
q
10 0 0 10 0 0 cm
BT
/R37 7.9701 Tf
1 0 0 1 425.933 568.93 Tm
(Strless) Tj
ET
Q
4526.72 5662.32 m
4526.72 5758.19 l
S
q
10 0 0 10 0 0 cm
BT
/R37 7.9701 Tf
1 0 0 1 459.674 568.93 Tm
(\133) Tj
ET
Q
0 1 0 rg
q
10 0 0 10 0 0 cm
BT
/R37 7.9701 Tf
1 0 0 1 462.328 568.93 Tm
(26) Tj
ET
Q
0 g
q
10 0 0 10 0 0 cm
BT
/R37 7.9701 Tf
1 0 0 1 470.298 568.93 Tm
(\054) Tj
ET
Q
0 1 0 rg
q
10 0 0 10 0 0 cm
BT
/R37 7.9701 Tf
1 0 0 1 473.327 568.93 Tm
(36) Tj
ET
Q
0 g
q
10 0 0 10 0 0 cm
BT
/R37 7.9701 Tf
1 0 0 1 481.297 568.93 Tm
(\135) Tj
ET
Q
4909.53 5662.32 m
4909.53 5758.19 l
S
q
10 0 0 10 0 0 cm
BT
/R37 7.9701 Tf
1 0 0 1 497.179 568.93 Tm
(64) Tj
ET
Q
1 0 0 rg
q
10 0 0 10 0 0 cm
BT
/R37 5.9776 Tf
1 0 0 1 505.149 571.742 Tm
(2) Tj
ET
Q
5148.63 5662.32 m
5148.63 5758.19 l
S
3391.11 5660.33 m
5148.63 5660.33 l
S
3391.11 5568.43 m
3391.11 5658.34 l
S
0 g
q
10 0 0 10 0 0 cm
BT
/R35 6.9738 Tf
0 1 -1 0 346.79 542.005 Tm
(P) Tj
/R35 5.5791 Tf
4.60898 0 Td
[ (R) -31.9972 (O) -61.9815 (B) ] TJ
/R35 6.9738 Tf
12.9578 0 Td
(\056) Tj
/R154 6.9738 Tf
-18.8438 -9.46406 Td
[ (4) -0.19605 ] TJ
/R35 6.9738 Tf
4.68789 0 Td
[ (\055) -50.0198 (D) ] TJ
/R35 5.5791 Tf
8.05391 0 Td
(O) Tj
/R35 6.9738 Tf
4.68711 0 Td
(F) Tj
ET
Q
3593.51 5568.43 m
3593.51 5658.34 l
S
q
10 0 0 10 0 0 cm
BT
/R158 5.97757 Tf
1 0 0 1 363.629 560.168 Tm
[ <0f> -0.29815 ] TJ
ET
Q
3814.92 5568.43 m
3814.92 5658.34 l
S
q
10 0 0 10 0 0 cm
BT
/R37 7.9701 Tf
1 0 0 1 387.358 559.54 Tm
[ (0) -1944 (2) ] TJ
ET
Q
4204.5 5568.43 m
4204.5 5658.34 l
S
q
10 0 0 10 0 0 cm
BT
/R37 7.9701 Tf
1 0 0 1 425.491 559.54 Tm
(\050g\051P2P) Tj
ET
Q
4526.72 5568.43 m
4526.72 5658.34 l
S
q
10 0 0 10 0 0 cm
BT
/R37 7.9701 Tf
1 0 0 1 465.173 559.54 Tm
(\133) Tj
ET
Q
0 1 0 rg
q
10 0 0 10 0 0 cm
BT
/R37 7.9701 Tf
1 0 0 1 467.827 559.54 Tm
(28) Tj
ET
Q
0 g
q
10 0 0 10 0 0 cm
BT
/R37 7.9701 Tf
1 0 0 1 475.797 559.54 Tm
(\135) Tj
ET
Q
4909.53 5568.43 m
4909.53 5658.34 l
S
q
10 0 0 10 0 0 cm
BT
/R37 7.9701 Tf
1 0 0 1 500.915 559.54 Tm
(2) Tj
ET
Q
5148.63 5568.43 m
5148.63 5658.34 l
S
3391.11 5478.51 m
3391.11 5568.42 l
S
3593.51 5478.51 m
3593.51 5568.42 l
S
q
10 0 0 10 0 0 cm
BT
/R158 5.97757 Tf
1 0 0 1 363.629 551.177 Tm
[ <0f> -0.29815 ] TJ
ET
Q
3814.92 5478.51 m
3814.92 5568.42 l
S
q
10 0 0 10 0 0 cm
BT
/R37 7.9701 Tf
1 0 0 1 387.358 550.549 Tm
[ (2) -1944 (1) ] TJ
ET
Q
4204.5 5478.51 m
4204.5 5568.42 l
S
q
10 0 0 10 0 0 cm
BT
/R35 7.9701 Tf
1 0 0 1 427.26 550.549 Tm
(uH21) Tj
ET
Q
4526.72 5478.51 m
4526.72 5568.42 l
S
q
10 0 0 10 0 0 cm
BT
/R37 7.9701 Tf
1 0 0 1 459.084 550.549 Tm
(Sec\056) Tj
ET
Q
1 0 0 rg
q
10 0 0 10 0 0 cm
BT
/R37 7.9701 Tf
1 0 0 1 474.578 550.549 Tm
(4\0562) Tj
ET
Q
4909.53 5478.51 m
4909.53 5568.42 l
S
0 g
q
10 0 0 10 0 0 cm
BT
/R37 7.9701 Tf
1 0 0 1 500.915 550.549 Tm
(4) Tj
ET
Q
5148.63 5478.51 m
5148.63 5568.42 l
S
3391.11 5388.6 m
3391.11 5478.51 l
S
3593.51 5388.6 m
3593.51 5478.51 l
S
q
10 0 0 10 0 0 cm
BT
/R158 5.97757 Tf
1 0 0 1 363.629 542.185 Tm
[ <0f> -0.29815 ] TJ
ET
Q
3814.92 5388.6 m
3814.92 5478.51 l
S
q
10 0 0 10 0 0 cm
BT
/R37 7.9701 Tf
1 0 0 1 387.358 541.557 Tm
[ (4) -1944 (0) ] TJ
ET
Q
4204.5 5388.6 m
4204.5 5478.51 l
S
q
10 0 0 10 0 0 cm
BT
/R37 7.9701 Tf
1 0 0 1 429.033 541.557 Tm
(QEP) Tj
ET
Q
4526.72 5388.6 m
4526.72 5478.51 l
S
q
10 0 0 10 0 0 cm
BT
/R37 7.9701 Tf
1 0 0 1 465.173 541.557 Tm
(\133) Tj
ET
Q
0 1 0 rg
q
10 0 0 10 0 0 cm
BT
/R37 7.9701 Tf
1 0 0 1 467.827 541.557 Tm
(29) Tj
ET
Q
0 g
q
10 0 0 10 0 0 cm
BT
/R37 7.9701 Tf
1 0 0 1 475.797 541.557 Tm
(\135) Tj
ET
Q
4909.53 5388.6 m
4909.53 5478.51 l
S
q
10 0 0 10 0 0 cm
BT
/R37 7.9701 Tf
1 0 0 1 500.915 541.557 Tm
(6) Tj
ET
Q
5148.63 5388.6 m
5148.63 5478.51 l
S
3391.11 5386.61 m
5148.63 5386.61 l
S
3391.11 5294.7 m
3391.11 5384.61 l
S
q
10 0 0 10 0 0 cm
BT
/R35 6.9738 Tf
0 1 -1 0 346.79 501.984 Tm
(P) Tj
/R35 5.5791 Tf
4.61016 0 Td
[ (R) -31.9972 (O) -61.9815 (B) -61.0275 (L) -62.0077 (E) -62.0077 (M) ] TJ
/R154 6.9738 Tf
-1.54297 -9.46406 Td
[ (7) -0.19605 ] TJ
/R35 6.9738 Tf
4.68789 0 Td
[ (\055) -50.0198 (D) ] TJ
/R35 5.5791 Tf
8.05391 0 Td
(O) Tj
/R35 6.9738 Tf
4.68711 0 Td
(F) Tj
ET
Q
3593.51 5294.7 m
3593.51 5384.61 l
S
q
10 0 0 10 0 0 cm
BT
/R158 5.97757 Tf
1 0 0 1 374.7 532.796 Tm
[ <0f> -0.29815 ] TJ
ET
Q
3814.92 5294.7 m
3814.92 5384.61 l
S
q
10 0 0 10 0 0 cm
BT
/R37 7.9701 Tf
1 0 0 1 387.358 532.168 Tm
[ (0) -1944 (4) ] TJ
ET
Q
4204.5 5294.7 m
4204.5 5384.61 l
S
q
10 0 0 10 0 0 cm
BT
/R37 7.9701 Tf
1 0 0 1 426.339 532.168 Tm
(P4P\053s) Tj
ET
Q
4526.72 5294.7 m
4526.72 5384.61 l
S
q
10 0 0 10 0 0 cm
BT
/R37 7.9701 Tf
1 0 0 1 465.173 532.168 Tm
(\133) Tj
ET
Q
0 1 0 rg
q
10 0 0 10 0 0 cm
BT
/R37 7.9701 Tf
1 0 0 1 467.827 532.168 Tm
(32) Tj
ET
Q
0 g
q
10 0 0 10 0 0 cm
BT
/R37 7.9701 Tf
1 0 0 1 475.797 532.168 Tm
(\135) Tj
ET
Q
4909.53 5294.7 m
4909.53 5384.61 l
S
q
10 0 0 10 0 0 cm
BT
/R37 7.9701 Tf
1 0 0 1 500.915 532.168 Tm
(8) Tj
ET
Q
5148.63 5294.7 m
5148.63 5384.61 l
S
3391.11 5204.79 m
3391.11 5294.7 l
S
3593.51 5204.79 m
3593.51 5294.7 l
S
q
10 0 0 10 0 0 cm
BT
/R158 5.97757 Tf
1 0 0 1 374.7 523.804 Tm
[ <0f> -0.29815 ] TJ
ET
Q
3814.92 5204.79 m
3814.92 5294.7 l
S
q
10 0 0 10 0 0 cm
BT
/R37 7.9701 Tf
1 0 0 1 387.358 523.177 Tm
[ (1) -1944 (3) ] TJ
ET
Q
4204.5 5204.79 m
4204.5 5294.7 l
S
q
10 0 0 10 0 0 cm
BT
/R35 7.9701 Tf
1 0 0 1 425.654 523.177 Tm
(H13\053s) Tj
ET
Q
4526.72 5204.79 m
4526.72 5294.7 l
S
q
10 0 0 10 0 0 cm
BT
/R37 7.9701 Tf
1 0 0 1 459.084 523.177 Tm
(Sec\056) Tj
ET
Q
1 0 0 rg
q
10 0 0 10 0 0 cm
BT
/R37 7.9701 Tf
1 0 0 1 474.578 523.177 Tm
(4\0561) Tj
ET
Q
4909.53 5204.79 m
4909.53 5294.7 l
S
0 g
q
10 0 0 10 0 0 cm
BT
/R37 7.9701 Tf
1 0 0 1 498.923 523.177 Tm
(16) Tj
ET
Q
5148.63 5204.79 m
5148.63 5294.7 l
S
3391.11 5114.88 m
3391.11 5204.79 l
S
3593.51 5114.88 m
3593.51 5204.79 l
S
q
10 0 0 10 0 0 cm
BT
/R158 5.97757 Tf
1 0 0 1 374.7 514.813 Tm
[ <0f> -0.29815 ] TJ
ET
Q
3814.92 5114.88 m
3814.92 5204.79 l
S
q
10 0 0 10 0 0 cm
BT
/R37 7.9701 Tf
1 0 0 1 387.358 514.185 Tm
[ (3) -1944 (2) ] TJ
ET
Q
4204.5 5114.88 m
4204.5 5204.79 l
S
q
10 0 0 10 0 0 cm
BT
/R35 7.9701 Tf
1 0 0 1 425.654 514.185 Tm
(H32\053s) Tj
ET
Q
4526.72 5114.88 m
4526.72 5204.79 l
S
q
10 0 0 10 0 0 cm
BT
/R37 7.9701 Tf
1 0 0 1 459.084 514.185 Tm
(Sec\056) Tj
ET
Q
1 0 0 rg
q
10 0 0 10 0 0 cm
BT
/R37 7.9701 Tf
1 0 0 1 474.578 514.185 Tm
(4\0561) Tj
ET
Q
4909.53 5114.88 m
4909.53 5204.79 l
S
0 g
q
10 0 0 10 0 0 cm
BT
/R37 7.9701 Tf
1 0 0 1 498.923 514.185 Tm
(56) Tj
ET
Q
5148.63 5114.88 m
5148.63 5204.79 l
S
3391.11 5019.01 m
3391.11 5114.88 l
S
3593.51 5019.01 m
3593.51 5114.88 l
S
q
10 0 0 10 0 0 cm
BT
/R158 5.97757 Tf
1 0 0 1 374.7 505.226 Tm
[ <0f> -0.29815 ] TJ
ET
Q
3814.92 5019.01 m
3814.92 5114.88 l
S
q
10 0 0 10 0 0 cm
BT
/R37 7.9701 Tf
1 0 0 1 387.358 504.598 Tm
[ (5) -1944 (1) ] TJ
ET
Q
4204.5 5019.01 m
4204.5 5114.88 l
S
q
10 0 0 10 0 0 cm
BT
/R35 7.9701 Tf
1 0 0 1 425.654 504.598 Tm
(H51\053s) Tj
ET
Q
4526.72 5019.01 m
4526.72 5114.88 l
S
q
10 0 0 10 0 0 cm
BT
/R37 7.9701 Tf
1 0 0 1 459.084 504.598 Tm
(Sec\056) Tj
ET
Q
1 0 0 rg
q
10 0 0 10 0 0 cm
BT
/R37 7.9701 Tf
1 0 0 1 474.578 504.598 Tm
(4\0561) Tj
ET
Q
4909.53 5019.01 m
4909.53 5114.88 l
S
0 g
q
10 0 0 10 0 0 cm
BT
/R37 7.9701 Tf
1 0 0 1 497.179 504.598 Tm
(80) Tj
ET
Q
1 0 0 rg
q
10 0 0 10 0 0 cm
BT
/R37 5.9776 Tf
1 0 0 1 505.149 507.411 Tm
(3) Tj
ET
Q
5148.63 5019.01 m
5148.63 5114.88 l
S
3391.11 4923.14 m
3391.11 5019.01 l
S
3593.51 4923.14 m
3593.51 5019.01 l
S
0 g
q
10 0 0 10 0 0 cm
BT
/R158 5.97757 Tf
1 0 0 1 374.7 495.64 Tm
[ <0f> -0.29815 ] TJ
ET
Q
3814.92 4923.14 m
3814.92 5019.01 l
S
q
10 0 0 10 0 0 cm
BT
/R37 7.9701 Tf
1 0 0 1 387.358 495.012 Tm
[ (7) -1944 (0) ] TJ
ET
Q
4204.5 4923.14 m
4204.5 5019.01 l
S
q
10 0 0 10 0 0 cm
BT
/R37 7.9701 Tf
1 0 0 1 423.657 495.012 Tm
[ (Se) 25.0203 (v) 14.9852 (enPt) ] TJ
ET
Q
4526.72 4923.14 m
4526.72 5019.01 l
S
q
10 0 0 10 0 0 cm
BT
/R37 7.9701 Tf
1 0 0 1 465.173 495.012 Tm
(\133) Tj
ET
Q
0 1 0 rg
q
10 0 0 10 0 0 cm
BT
/R37 7.9701 Tf
1 0 0 1 467.827 495.012 Tm
(30) Tj
ET
Q
0 g
q
10 0 0 10 0 0 cm
BT
/R37 7.9701 Tf
1 0 0 1 475.797 495.012 Tm
(\135) Tj
ET
Q
4909.53 4923.14 m
4909.53 5019.01 l
S
q
10 0 0 10 0 0 cm
BT
/R37 7.9701 Tf
1 0 0 1 495.187 495.012 Tm
(140) Tj
ET
Q
1 0 0 rg
q
10 0 0 10 0 0 cm
BT
/R37 5.9776 Tf
1 0 0 1 507.142 497.824 Tm
(3) Tj
ET
Q
5148.63 4923.14 m
5148.63 5019.01 l
S
3391.11 4921.15 m
5148.63 4921.15 l
S
3391.11 4829.25 m
3391.11 4919.16 l
S
0 g
q
10 0 0 10 0 0 cm
BT
/R35 6.9738 Tf
0 1 -1 0 346.79 459.934 Tm
(P) Tj
/R35 5.5791 Tf
4.61016 0 Td
[ (R) -31.9972 (O) -61.9815 (B) -61.0275 (L) -62.0077 (E) -62.0077 (M) ] TJ
/R154 6.9738 Tf
-1.54297 -9.46523 Td
[ (5) -0.19605 ] TJ
/R35 6.9738 Tf
4.68789 0 Td
[ (\055) -50.0198 (D) ] TJ
/R35 5.5791 Tf
8.05391 0 Td
(O) Tj
/R35 6.9738 Tf
4.68711 0 Td
(F) Tj
ET
Q
3593.51 4829.25 m
3593.51 4919.16 l
S
q
10 0 0 10 0 0 cm
BT
/R158 5.97757 Tf
1 0 0 1 363.629 486.25 Tm
[ <0f> -1321.1 <0f> -0.29815 ] TJ
ET
Q
3814.92 4829.25 m
3814.92 4919.16 l
S
q
10 0 0 10 0 0 cm
BT
/R37 7.9701 Tf
1 0 0 1 387.358 485.622 Tm
[ (0) -1944 (3) ] TJ
ET
Q
4204.5 4829.25 m
4204.5 4919.16 l
S
q
10 0 0 10 0 0 cm
BT
/R35 7.9701 Tf
1 0 0 1 423.661 485.622 Tm
(uP3P\053s) Tj
ET
Q
4526.72 4829.25 m
4526.72 4919.16 l
S
q
10 0 0 10 0 0 cm
BT
/R37 7.9701 Tf
1 0 0 1 459.084 485.622 Tm
(Sec\056) Tj
ET
Q
1 0 0 rg
q
10 0 0 10 0 0 cm
BT
/R37 7.9701 Tf
1 0 0 1 474.578 485.622 Tm
(4\0561) Tj
ET
Q
4909.53 4829.25 m
4909.53 4919.16 l
S
0 g
q
10 0 0 10 0 0 cm
BT
/R37 7.9701 Tf
1 0 0 1 500.915 485.622 Tm
(1) Tj
ET
Q
5148.63 4829.25 m
5148.63 4919.16 l
S
3391.11 4739.33 m
3391.11 4829.24 l
S
3593.51 4739.33 m
3593.51 4829.24 l
S
q
10 0 0 10 0 0 cm
BT
/R158 5.97757 Tf
1 0 0 1 363.629 477.259 Tm
[ <0f> -1321.1 <0f> -0.29815 ] TJ
ET
Q
3814.92 4739.33 m
3814.92 4829.24 l
S
q
10 0 0 10 0 0 cm
BT
/R37 7.9701 Tf
1 0 0 1 387.358 476.631 Tm
[ (1) -1944 (2) ] TJ
ET
Q
4204.5 4739.33 m
4204.5 4829.24 l
S
q
10 0 0 10 0 0 cm
BT
/R35 7.9701 Tf
1 0 0 1 423.438 476.631 Tm
(uH12\053s) Tj
ET
Q
4526.72 4739.33 m
4526.72 4829.24 l
S
q
10 0 0 10 0 0 cm
BT
/R37 7.9701 Tf
1 0 0 1 459.084 476.631 Tm
(Sec\056) Tj
ET
Q
1 0 0 rg
q
10 0 0 10 0 0 cm
BT
/R37 7.9701 Tf
1 0 0 1 474.578 476.631 Tm
(4\0561) Tj
ET
Q
4909.53 4739.33 m
4909.53 4829.24 l
S
0 g
q
10 0 0 10 0 0 cm
BT
/R37 7.9701 Tf
1 0 0 1 500.915 476.631 Tm
(4) Tj
ET
Q
5148.63 4739.33 m
5148.63 4829.24 l
S
3391.11 4649.42 m
3391.11 4739.33 l
S
3593.51 4649.42 m
3593.51 4739.33 l
S
q
10 0 0 10 0 0 cm
BT
/R158 5.97757 Tf
1 0 0 1 363.629 468.267 Tm
[ <0f> -1321.1 <0f> -0.29815 ] TJ
ET
Q
3814.92 4649.42 m
3814.92 4739.33 l
S
q
10 0 0 10 0 0 cm
BT
/R37 7.9701 Tf
1 0 0 1 387.358 467.639 Tm
[ (3) -1944 (1) ] TJ
ET
Q
4204.5 4649.42 m
4204.5 4739.33 l
S
q
10 0 0 10 0 0 cm
BT
/R35 7.9701 Tf
1 0 0 1 423.438 467.639 Tm
(uH31\053s) Tj
ET
Q
4526.72 4649.42 m
4526.72 4739.33 l
S
q
10 0 0 10 0 0 cm
BT
/R37 7.9701 Tf
1 0 0 1 459.084 467.639 Tm
(Sec\056) Tj
ET
Q
1 0 0 rg
q
10 0 0 10 0 0 cm
BT
/R37 7.9701 Tf
1 0 0 1 474.578 467.639 Tm
(4\0561) Tj
ET
Q
4909.53 4649.42 m
4909.53 4739.33 l
S
0 g
q
10 0 0 10 0 0 cm
BT
/R37 7.9701 Tf
1 0 0 1 500.915 467.639 Tm
(6) Tj
ET
Q
5148.63 4649.42 m
5148.63 4739.33 l
S
3391.11 4559.51 m
3391.11 4649.42 l
S
3593.51 4559.51 m
3593.51 4649.42 l
S
q
10 0 0 10 0 0 cm
BT
/R158 5.97757 Tf
1 0 0 1 363.629 459.276 Tm
[ <0f> -1321.1 <0f> -0.29815 ] TJ
ET
Q
3814.92 4559.51 m
3814.92 4649.42 l
S
q
10 0 0 10 0 0 cm
BT
/R37 7.9701 Tf
1 0 0 1 387.358 458.648 Tm
[ (5) -1944 (0) ] TJ
ET
Q
4204.5 4559.51 m
4204.5 4649.42 l
S
q
10 0 0 10 0 0 cm
BT
/R37 7.9701 Tf
1 0 0 1 426.312 458.648 Tm
[ (Fi) 25.0203 (v) 14.9852 (ePt) ] TJ
ET
Q
4526.72 4559.51 m
4526.72 4649.42 l
S
q
10 0 0 10 0 0 cm
BT
/R37 7.9701 Tf
1 0 0 1 465.173 458.648 Tm
(\133) Tj
ET
Q
0 1 0 rg
q
10 0 0 10 0 0 cm
BT
/R37 7.9701 Tf
1 0 0 1 467.827 458.648 Tm
(30) Tj
ET
Q
0 g
q
10 0 0 10 0 0 cm
BT
/R37 7.9701 Tf
1 0 0 1 475.797 458.648 Tm
(\135) Tj
ET
Q
4909.53 4559.51 m
4909.53 4649.42 l
S
q
10 0 0 10 0 0 cm
BT
/R37 7.9701 Tf
1 0 0 1 498.923 458.648 Tm
(10) Tj
ET
Q
5148.63 4559.51 m
5148.63 4649.42 l
S
3391.11 4557.52 m
5148.63 4557.52 l
S
q
10 0 0 10 0 0 cm
BT
/R37 8.9664 Tf
1 0 0 1 308.862 448.378 Tm
[ (T) 79.9807 (able) -273.011 (1\056) -273.003 (Summary) -273.98 (of) -272.995 (Minimal) -273.003 (Solv) 15.0137 (ers\056) ] TJ
/R35 8.9664 Tf
144.309 0 Td
(U) Tj
/R37 8.9664 Tf
8.92383 0 Td
(and) Tj
/R35 8.9664 Tf
15.3969 0 Td
(S) Tj
/R37 8.9664 Tf
7.43398 0 Td
[ (stand) -272.986 (for) -273.008 (upright) ] TJ
-176.064 -10.959 Td
(\050) Tj
/R47 8.9664 Tf
2.98594 0 Td
(i\056e) Tj
/R37 8.9664 Tf
8.71484 0 Td
[ (\056\054) -219.003 (kno) 25.0066 (wn) -210.998 (v) 14.9865 (ertical\051) -211 (and) -211.006 (unkno) 25.0066 (wn) -210.998 (scale\054) -218.982 (respect) 0.98567 (i) 25.0174 (v) 14.9865 (ely) 64.9887 (\056) -297.007 (The) -211.009 (solv) 14.9974 (ers) ] TJ
-11.7008 -10.959 Td
[ (presented) -249.992 (in) -250.014 (this) -250 (paper) -249.987 (are) -249.987 (in) -250.011 (boldf) 10.0146 (ace\056) ] TJ
/R37 9.9626 Tf
11.9547 -18.4281 Td
[ (As) -394.003 (detailed) -393.993 (in) -392.981 (T) 79.9916 (able) ] TJ
ET
Q
1 0 0 rg
q
10 0 0 10 0 0 cm
BT
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ET
Q
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/R37 9.9626 Tf
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/R35 8.9664 Tf
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11.9559 TL
T*
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/R156 8.9664 Tf
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/R90 9.9626 Tf
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[ (h) -0.20095 ] TJ
/R103 6.9738 Tf
6.36523 -4.41094 Td
[ (a) -0.70017 ] TJ
/R107 6.9738 Tf
7.08789 0 Td
[ <00> -0.89971 ] TJ
/R103 6.9738 Tf
6.22578 0 Td
[ (b) -0.40085 ] TJ
/R109 6.9738 Tf
6.27109 0 Td
[ (0) -0.50062 ] TJ
/R103 6.9738 Tf
-19.1758 -7.16797 Td
[ (b) -843.382 (a) -0.70017 ] TJ
/R109 6.9738 Tf
19.1758 0 Td
[ (0) -0.50062 ] TJ
-19.4098 -5.98906 Td
[ (0) -835.476 (0) -809.486 (1) -0.50062 ] TJ
/R187 9.9626 Tf
25.0406 17.568 Td
[ (i) -0.20095 ] TJ
/R54 9.9626 Tf
9.68633 -11.059 Td
[ (\073) -0.80011 ] TJ
/R37 9.9626 Tf
77.9359 0 Td
(\0503\051) Tj
-224.634 -24.773 Td
[ (where) -250.002 (we) -249.999 (must) -250.006 (enforce) -250.007 (that) ] TJ
/R54 9.9626 Tf
112.597 0 Td
[ (a) -0.60039 ] TJ
/R109 6.9738 Tf
5.26602 3.61484 Td
[ (2) -0.50062 ] TJ
/R90 9.9626 Tf
6.6832 -3.61484 Td
[ (\053) -0.80011 ] TJ
/R54 9.9626 Tf
9.96289 0 Td
[ (b) -0.20095 ] TJ
/R109 6.9738 Tf
4.275 3.61484 Td
[ (2) -0.50062 ] TJ
/R90 9.9626 Tf
7.23672 -3.61484 Td
[ (\075) -278.784 (1) ] TJ
/R37 9.9626 Tf
15.4973 0 Td
(\056) Tj
/R35 9.9626 Tf
-161.518 -16.3719 Td
[ (2D\0553D) -324.012 (Constraints\056) ] TJ
/R37 9.9626 Tf
91.7117 0 Td
[ (Gi) 24.986 (v) 14.9828 (en) ] TJ
/R54 9.9626 Tf
27.175 0 Td
[ (i) -0.49992 ] TJ
/R90 9.9626 Tf
7.56016 0 Td
[ (\075) -414.801 (1) ] TJ
/R54 9.9626 Tf
18.518 0 Td
[ (\072) -167.788 (\072) -166.808 (\072) -167.788 (m) ] TJ
/R37 9.9626 Tf
25.257 0 Td
[ (2D\0553D) -324.012 (matches\054) ] TJ
-170.222 -11.9551 Td
[ (we) -249.999 (may) -249.985 (write) ] TJ
/R54 9.9626 Tf
58.9168 -10.8262 Td
[ <0b> -0.69964 ] TJ
/R103 6.9738 Tf
6.37305 -1.49375 Td
[ (i) -0.19955 ] TJ
/R111 9.9626 Tf
3.31719 1.49375 Td
[ (v) -0.89936 ] TJ
/R103 6.9738 Tf
6.04688 -1.49375 Td
[ (i) -0.19955 ] TJ
/R90 9.9626 Tf
5.53086 1.49375 Td
[ (\053) -0.80011 ] TJ
/R54 9.9626 Tf
9.96211 0 Td
[ (s) -0.80011 ] TJ
/R111 9.9626 Tf
7.16094 0 Td
[ (c) -0.09925 ] TJ
/R103 6.9738 Tf
5.09219 -1.49375 Td
[ (i) -0.19955 ] TJ
/R90 9.9626 Tf
6.08398 1.49375 Td
[ (\075) -0.80011 ] TJ
/R160 9.9626 Tf
10.516 0 Td
(R) Tj
/R111 9.9626 Tf
5.23086 0 Td
[ (p) -0.89936 ] TJ
/R103 6.9738 Tf
6.36484 -1.49375 Td
[ (i) -0.19955 ] TJ
/R90 9.9626 Tf
5.53008 1.49375 Td
[ (\053) -0.80011 ] TJ
/R160 9.9626 Tf
9.96328 0 Td
(t) Tj
/R54 9.9626 Tf
6.89102 0 Td
[ (\073) -0.79889 ] TJ
/R37 9.9626 Tf
71.6539 0 Td
(\0504\051) Tj
-224.634 -20.7879 Td
(where) Tj
/R54 9.9626 Tf
27.5129 0 Td
[ <0b> -0.70025 ] TJ
/R103 6.9738 Tf
6.37305 -1.49492 Td
[ (i) -0.20042 ] TJ
/R37 9.9626 Tf
6.4918 1.49492 Td
[ (is) -318.992 (the) -318.018 (depth) -318.987 (of) -319.004 (the) ] TJ
/R54 9.9626 Tf
77.3031 0 Td
[ (i) -0.49992 ] TJ
/R37 9.9626 Tf
3.43203 0 Td
[ (\055th) -318.997 (point) -317.996 (in) ] TJ
/R101 9.9626 Tf
48.8262 0 Td
(f) Tj
/R54 9.9626 Tf
4.98203 0 Td
[ (C) -0.69841 ] TJ
/R101 9.9626 Tf
7.83281 0 Td
(g) Tj
/R37 9.9626 Tf
4.98086 0 Td
(\054) Tj
/R111 9.9626 Tf
5.83711 0 Td
[ (v) -0.90181 ] TJ
/R103 6.9738 Tf
6.04609 -1.49492 Td
[ (i) -0.19955 ] TJ
/R37 9.9626 Tf
6.4918 1.49492 Td
[ (is) -318.993 (a) -317.991 (ray) ] TJ
-206.11 -11.9551 Td
[ (of) -321.984 (unit) -320.981 (length\054) ] TJ
/R54 9.9626 Tf
60.9867 0 Td
[ (s) -0.80011 ] TJ
/R37 9.9626 Tf
7.87305 0 Td
[ (is) -322.011 (the) -320.998 (scale) -321.985 (of) -321.004 (the) -322.017 (generalized) -321 (camera\054) ] TJ
/R111 9.9626 Tf
158.981 0 Td
[ (c) -0.10047 ] TJ
/R103 6.9738 Tf
5.0918 -1.49492 Td
[ (i) -0.19955 ] TJ
/R37 9.9626 Tf
-232.933 -10.4609 Td
[ (is) -271 (the) -269.986 (center) -271.018 (of) -269.993 (projection) -270.984 (for) -271.015 (the) -269.987 (generalized) -271.009 (measurement) ] TJ
(and) '
/R111 9.9626 Tf
16.977 0 Td
[ (p) -0.89997 ] TJ
/R103 6.9738 Tf
6.36484 -1.49375 Td
[ (i) -0.20042 ] TJ
/R37 9.9626 Tf
5.90898 1.49375 Td
[ (is) -259.982 (the) -259.988 (3D) -259.988 (point) -260.006 (in) ] TJ
/R101 9.9626 Tf
72.184 0 Td
(f) Tj
/R54 9.9626 Tf
4.98125 0 Td
[ (G) -0.30019 ] TJ
/R101 9.9626 Tf
7.83281 0 Td
(g) Tj
/R37 9.9626 Tf
4.98125 0 Td
[ (\056) -340.019 (In) -259.995 (man) 14.9901 (y) -261.01 (cases) -259.996 (it) -259.981 (is) -259.984 (useful) -260.02 (to) ] TJ
-119.23 -11.9551 Td
[ (eliminate) -250.004 (the) -249.99 (unkno) 25 (wn) -249.99 (depths\054) -250.01 (thus) -250.013 (one) -249.993 (may) -249.985 (re) 25.0081 (write) -249.988 (\050) ] TJ
ET
Q
1 0 0 rg
q
10 0 0 10 0 0 cm
BT
/R37 9.9626 Tf
1 0 0 1 264.059 427.764 Tm
(4) Tj
ET
Q
0 g
q
10 0 0 10 0 0 cm
BT
/R37 9.9626 Tf
1 0 0 1 269.04 427.764 Tm
[ (\051) -250 (as) ] TJ
/R101 9.9626 Tf
-169.119 -14.8109 Td
[ (b) -0.40067 ] TJ
/R111 9.9626 Tf
4.42773 0 Td
[ (v) -0.89936 ] TJ
/R103 6.9738 Tf
6.04727 -1.49375 Td
[ (i) -0.19955 ] TJ
/R101 9.9626 Tf
3.3168 1.49375 Td
[ (c) -0.40067 ] TJ
/R189 6.9738 Tf
4.42812 -1.49375 Td
[ (x) -0.59864 ] TJ
/R90 9.9626 Tf
5.57305 1.49375 Td
[ (\050) -0.89936 ] TJ
/R160 9.9626 Tf
3.87383 0 Td
(R) Tj
/R111 9.9626 Tf
5.23008 0 Td
[ (p) -0.89936 ] TJ
/R103 6.9738 Tf
6.36484 -1.49375 Td
[ (i) -0.19955 ] TJ
/R90 9.9626 Tf
5.53125 1.49375 Td
[ (\053) -0.80011 ] TJ
/R160 9.9626 Tf
9.96289 0 Td
(t) Tj
/R101 9.9626 Tf
7.44414 0 Td
[ <00> -0.80011 ] TJ
/R54 9.9626 Tf
9.96211 0 Td
[ (s) -0.80011 ] TJ
/R111 9.9626 Tf
7.16094 0 Td
[ (c) -0.09925 ] TJ
/R103 6.9738 Tf
5.0918 -1.49375 Td
[ (i) -0.19955 ] TJ
/R90 9.9626 Tf
3.31719 1.49375 Td
[ (\051) -278.908 (\075) -0.80011 ] TJ
/R111 9.9626 Tf
17.1578 0 Td
(0) Tj
/R54 9.9626 Tf
7.38906 0 Td
[ (\073) -0.79889 ] TJ
/R37 9.9626 Tf
62.5461 0 Td
(\0505\051) Tj
-224.634 -18.7957 Td
(where) Tj
/R101 9.9626 Tf
27.448 0 Td
[ (b) -0.40006 ] TJ
/R111 9.9626 Tf
4.42773 0 Td
(a) Tj
/R101 9.9626 Tf
5.56914 0 Td
[ (c) -0.40006 ] TJ
/R189 6.9738 Tf
4.42812 -1.49414 Td
[ (x) -0.60039 ] TJ
/R101 9.9626 Tf
7.825 1.49414 Td
[ (2) -0.69964 ] TJ
/R191 9.9626 Tf
10.5547 0 Td
[ (R) -0.20095 ] TJ
/R109 6.9738 Tf
7.19609 3.61563 Td
[ (3) -0.50062 ] TJ
/R107 6.9738 Tf
3.97109 0 Td
[ <02> -0.89971 ] TJ
/R109 6.9738 Tf
6.22578 0 Td
[ (3) -0.50062 ] TJ
/R37 9.9626 Tf
4.47031 -3.61563 Td
[ (\054) -327.982 (such) -312.014 (that) ] TJ
/R101 9.9626 Tf
45.1777 0 Td
[ (b) -0.40067 ] TJ
/R111 9.9626 Tf
4.42812 0 Td
(a) Tj
/R101 9.9626 Tf
5.56914 0 Td
[ (c) -0.40067 ] TJ
/R189 6.9738 Tf
4.42773 -1.49414 Td
[ (x) -0.59864 ] TJ
/R111 9.9626 Tf
3.91328 1.49414 Td
[ (b) -0.89936 ] TJ
/R90 9.9626 Tf
9.13203 0 Td
[ (\075) -0.79889 ] TJ
/R111 9.9626 Tf
10.516 0 Td
(a) Tj
/R101 9.9626 Tf
7.78281 0 Td
[ <02> -0.79889 ] TJ
/R111 9.9626 Tf
9.96289 0 Td
[ (b) -0.90181 ] TJ
/R37 9.9626 Tf
6.36523 0 Td
[ (\056) -495.993 (Only) ] TJ
/R90 9.9626 Tf
30.4699 0 Td
(2) Tj
/R37 9.9626 Tf
8.08984 0 Td
(of) Tj
-227.951 -11.9551 Td
(the) Tj
/R90 9.9626 Tf
14.293 0 Td
(3) Tj
/R37 9.9626 Tf
7.09883 0 Td
[ (equations) -212.991 (in) -211.992 (\050) ] TJ
ET
Q
1 0 0 rg
q
10 0 0 10 0 0 cm
BT
/R37 9.9626 Tf
1 0 0 1 124.993 382.202 Tm
(5) Tj
ET
Q
0 g
q
10 0 0 10 0 0 cm
BT
/R37 9.9626 Tf
1 0 0 1 129.974 382.202 Tm
[ (\051) -212.988 (are) -212.996 (linearl) 0.99493 (y) -213.018 (independent\054) -220.007 (thus) -213.001 (only) -211.982 (the) ] TJ
-79.8621 -11.9551 Td
[ <02727374> -260.991 (tw) 10.0081 (o) -259.991 (are) -260.988 (tak) 10.0057 (en) -261.014 (into) -260.011 (account\056) -342.009 (F) 14.9926 (or) -261.014 (the) -261.008 (case) -260.003 (where) -261.02 (scale) -261.015 (is) ] TJ
11.9551 TL
T*
[ (kno) 24.9915 (wn\054) -328.993 (we) -313.988 (simply) -313.983 (set) ] TJ
/R54 9.9626 Tf
91.8258 0 Td
[ (s) -0.80011 ] TJ
/R90 9.9626 Tf
8.61016 0 Td
[ (\075) -396.804 (1) ] TJ
/R37 9.9626 Tf
16.6711 0 Td
[ (\054) -329.001 (whereas) -313.989 (for) -313.989 (central) -313.004 (cameras) ] TJ
-117.107 -11.9551 Td
[ (we) -343.983 (may) -344.008 (al) 10.0014 (w) 10.0014 (ays) -342.994 (set) ] TJ
/R111 9.9626 Tf
81.007 0 Td
[ (c) -0.09925 ] TJ
/R103 6.9738 Tf
5.0918 -1.49492 Td
[ (i) -0.19955 ] TJ
/R90 9.9626 Tf
7.81406 1.49492 Td
[ (\075) -0.80011 ] TJ
/R111 9.9626 Tf
12.2461 0 Td
(0) Tj
/R37 9.9626 Tf
5.72891 0 Td
[ (\056) -590.997 (Notice) -344.008 (that) -344.006 (\050) ] TJ
ET
Q
1 0 0 rg
q
10 0 0 10 0 0 cm
BT
/R37 9.9626 Tf
1 0 0 1 222.055 346.337 Tm
(5) Tj
ET
Q
0 g
q
10 0 0 10 0 0 cm
BT
/R37 9.9626 Tf
1 0 0 1 227.036 346.337 Tm
[ (\051) -343.984 (is) -342.989 (linear) -344.014 (in) ] TJ
/R160 9.9626 Tf
54.0961 0 Td
(t) Tj
/R37 9.9626 Tf
-231.02 -11.9559 Td
(and) Tj
/R54 9.9626 Tf
17.5629 0 Td
[ (s) -0.80011 ] TJ
/R37 9.9626 Tf
4.66992 0 Td
[ (\054) -335.981 (tw) 10.0081 (o) -319 (of) -319.004 (the) -318.998 (potential) -319.009 (unkno) 25 (wns\056) -516.016 (Depending) -319.018 (on) -318.996 (ho) 24.986 (w) ] TJ
-22.2328 -11.9551 Td
[ (man) 14.9908 (y) -354.995 (2D\0553D) -354.007 (matches) -354.982 (are) -353.992 (a) 19.9918 (v) 24.9811 (ailable\054) -381.019 (we) -355.002 (manipulate) -353.983 (\050) ] TJ
ET
Q
1 0 0 rg
q
10 0 0 10 0 0 cm
BT
/R37 9.9626 Tf
1 0 0 1 266.779 322.426 Tm
(5) Tj
ET
Q
0 g
q
10 0 0 10 0 0 cm
BT
/R37 9.9626 Tf
1 0 0 1 271.76 322.426 Tm
[ (\051) -355.002 (in) ] TJ
-221.648 -11.9547 Td
[ (tw) 10.0081 (o) -249.993 (dif) 24.9854 (ferent) -250 (w) 10 (ays\056) ] TJ
/R90 9.9626 Tf
11.9547 -12.3871 Td
(2) Tj
/R47 9.9626 Tf
7.71406 0 Td
[ (2D\0553D) -273.981 (matc) 14.9889 (hes) -275.006 (or) -273.982 (mor) 36.9877 (e\072) ] TJ
/R37 9.9626 Tf
104.214 0 Td
[ (In) -273.992 (this) -274.987 (case\054) ] TJ
/R160 9.9626 Tf
50.5891 0 Td
(t) Tj
/R37 9.9626 Tf
7.96289 0 Td
(and) Tj
/R54 9.9626 Tf
17.1191 0 Td
[ (s) -0.79889 ] TJ
/R37 9.9626 Tf
7.40313 0 Td
[ (may) -273.981 (be) ] TJ
-206.957 -11.9551 Td
[ (eliminated\056) -575.981 (F) 14.9926 (or) -337.982 (kno) 24.9909 (wn) -338.995 (scale) -339.002 (problems) -337.99 (we) -339.005 (need) -337.98 (only) ] TJ
/R90 9.9626 Tf
219.596 0 Td
(3) Tj
/R37 9.9626 Tf
8.35508 0 Td
(of) Tj
-227.951 -11.9551 Td
(the) Tj
/R90 9.9626 Tf
14.6648 0 Td
(4) Tj
/R37 9.9626 Tf
7.47187 0 Td
[ (equations) -250.005 (pro) 14.9852 (vided) -250.018 (by) ] TJ
/R90 9.9626 Tf
90.8883 0 Td
(2) Tj
/R37 9.9626 Tf
7.47187 0 Td
[ (2D\0553D) -249.985 (matches) -250.02 (to) -249.985 (get) ] TJ
/R111 9.9626 Tf
-39.275 -16.8027 Td
[ (A) -0.40067 ] TJ
/R160 9.9626 Tf
8.66211 0 Td
(t) Tj
/R90 9.9626 Tf
7.99688 0 Td
[ (\075) -0.80011 ] TJ
/R111 9.9626 Tf
10.5168 0 Td
[ (B) -0.10047 ] TJ
/R90 9.9626 Tf
8.14922 0 Td
[ (\050) -0.89936 ] TJ
/R111 9.9626 Tf
3.875 0 Td
[ (r) -0.60039 ] TJ
/R90 9.9626 Tf
4.71797 0 Td
[ (\051) -0.89936 ] TJ
/R54 9.9626 Tf
5.53516 0 Td
[ (\073) -0.80011 ] TJ
/R37 9.9626 Tf
93.959 0 Td
(\0506\051) Tj
-224.634 -19.7922 Td
(where) Tj
/R111 9.9626 Tf
27.218 0 Td
[ (A) -0.40006 ] TJ
/R101 9.9626 Tf
12.1488 0 Td
[ (2) -0.70025 ] TJ
/R191 9.9626 Tf
10.1289 0 Td
[ (R) -0.20095 ] TJ
/R109 6.9738 Tf
7.19531 3.61523 Td
[ (3) -0.50062 ] TJ
/R107 6.9738 Tf
3.97187 0 Td
[ <02> -0.89971 ] TJ
/R109 6.9738 Tf
6.22578 0 Td
[ (3) -0.50062 ] TJ
/R37 9.9626 Tf
7.34922 -3.61523 Td
[ (is) -288.997 (a) -289.016 (coef) 25.0081 <026369656e74> -288.986 (matrix) -288.986 (obtained) -288.986 (from) -289 (the) ] TJ
-74.2379 -11.9559 Td
[ (inputs\054) -291.011 (and) ] TJ
/R111 9.9626 Tf
46.9438 0 Td
[ (B) -0.10047 ] TJ
/R90 9.9626 Tf
8.15 0 Td
[ (\050) -0.89936 ] TJ
/R111 9.9626 Tf
3.87422 0 Td
[ (r) -0.60039 ] TJ
/R90 9.9626 Tf
4.71797 0 Td
[ (\051) -0.89936 ] TJ
/R101 9.9626 Tf
7.24102 0 Td
[ (2) -0.69964 ] TJ
/R191 9.9626 Tf
10.007 0 Td
[ (R) -0.20095 ] TJ
/R109 6.9738 Tf
7.1957 3.61602 Td
[ (3) -0.50062 ] TJ
/R37 9.9626 Tf
7.2832 -3.61602 Td
[ (is) -282.018 (a) -283.017 (function) -282.004 (of) -283.009 (the) -281.985 (rotation) -282.982 (param\055) ] TJ
-95.4129 -11.9551 Td
(eters) Tj
/R111 9.9626 Tf
21.4707 0 Td
[ (r) -0.59978 ] TJ
/R37 9.9626 Tf
4.71914 0 Td
[ (\054) -271.011 (which) -268.018 (can) -267.018 (be) ] TJ
/R90 9.9626 Tf
60.7629 0 Td
[ (\050) -0.89936 ] TJ
/R54 9.9626 Tf
3.87422 0 Td
[ (a) -0.60039 (\073) -167.805 (b) -0.20095 ] TJ
/R90 9.9626 Tf
13.9699 0 Td
[ (\051) -0.89936 ] TJ
/R37 9.9626 Tf
6.53594 0 Td
(or) Tj
/R111 9.9626 Tf
10.9609 0 Td
[ (u) -0.89936 ] TJ
/R37 9.9626 Tf
9.02695 0 Td
[ (as) -267.013 (e) 15.0122 (xplained) -266.99 (abo) 14.9828 (v) 14.9828 (e\056) -361.981 (In) -267.012 (the) ] TJ
-131.321 -11.9551 Td
[ (case) -262.002 (of) -261.013 (unkno) 25 (wn) -261.988 (scale\054) -265.012 (we) -261.016 (must) -262.004 (use) -261.988 (all) -261.986 (of) -261.013 (the) ] TJ
/R90 9.9626 Tf
185.494 0 Td
(4) Tj
/R37 9.9626 Tf
7.58906 0 Td
(constraints) Tj
-193.083 -11.9551 Td
[ (a) 19.9924 (v) 24.9811 (ailable) -336.989 (in) -338.01 (the) -336.995 (2) -338.017 (2D\0553D) -336.99 (matches) -336.985 (to) -338.01 (isolate) -337.017 (the) -336.995 (linear) -338.015 (un\055) ] TJ
11.9547 TL
T*
[ (kno) 24.9915 (wns\056) -310.01 (F) 14.992 (or) -249.996 (this) -250.011 (case) -250.005 (we) -249.999 (ha) 19.9979 (v) 14.9828 (e) ] TJ
/R111 9.9626 Tf
63.5309 -16.8043 Td
[ (A) -0.40067 ] TJ
/R103 6.9738 Tf
8.66211 -1.49375 Td
[ (s) -0.2013 ] TJ
/R90 9.9626 Tf
8.40977 1.49375 Td
[ (\133) -0.80011 ] TJ
/R160 9.9626 Tf
2.76719 0 Td
(t) Tj
/R162 6.9738 Tf
5.23008 3.61602 Td
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13.202 0 Td
(0) Tj
/R37 9.9626 Tf
5.7293 0 Td
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5.18594 -1.49492 Td
[ (1) -0.50062 ] TJ
/R54 9.9626 Tf
6.96016 1.49492 Td
[ (k) -0.59916 ] TJ
/R109 6.9738 Tf
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[ (2) -0.50062 ] TJ
/R90 9.9626 Tf
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/R37 9.9626 Tf
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[ (1) -0.50062 ] TJ
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[ (\075) -0.79889 ] TJ
/R111 9.9626 Tf
13.202 0 Td
(0) Tj
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[ (this) -383.99 (transformation) -384.012 (are) -383.987 (of) 25.0154 (fered) -383.985 (in) -384.005 (the) -384.005 (supplemental) -384.005 (mate\055) ] TJ
T*
[ (rial\051\056) -374.991 (Doing) -272.009 (this) -270.989 (allo) 24.9909 (ws) -271.984 (us) -271.004 (to) -271.984 (then) -271.979 (re) 25.0056 (write) -271.004 (\050) ] TJ
ET
Q
1 0 0 rg
q
10 0 0 10 0 0 cm
BT
/R37 9.9626 Tf
1 0 0 1 480.736 698.082 Tm
(4) Tj
ET
Q
0 g
q
10 0 0 10 0 0 cm
BT
/R37 9.9626 Tf
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[ (\051) -271.999 (as) ] TJ
/R54 9.9626 Tf
17.0313 0 Td
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6.37305 -1.49414 Td
[ (1) -0.49712 ] TJ
/R111 9.9626 Tf
4.46914 1.49414 Td
[ (v) -0.89691 ] TJ
/R109 6.9738 Tf
6.04688 -1.49414 Td
[ (1) -0.49712 ] TJ
/R90 9.9626 Tf
7.23711 1.49414 Td
[ (\075) -0.80379 ] TJ
/R160 9.9626 Tf
10.516 0 Td
(t) Tj
/R37 9.9626 Tf
5.23008 0 Td
(\054) Tj
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6.37305 -1.49492 Td
[ (1) -0.50062 ] TJ
/R37 9.9626 Tf
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12.1293 -31.075 Td
(t) Tj
/R90 9.9626 Tf
7.99688 0 Td
[ (\075) -0.80379 ] TJ
/R187 9.9626 Tf
10.5168 17.0359 Td
[ (\042) -0.29897 ] TJ
/R90 7.97008 Tf
11.9527 -6.83008 Td
(0) Tj
/R160 7.97008 Tf
-6.14141 -10.0113 Td
(t) Tj
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4.18398 -1.19531 Td
[ (z) -0.79644 ] TJ
4.62891 4.46328 Td
[ (k) -0.29757 ] TJ
/R193 3.98504 Tf
3.38867 -0.79766 Td
[ (1) -0.60039 ] TJ
ET
Q
3.184 w
0 G
4322.18 6572.39 m
4387.17 6572.39 l
S
q
10 0 0 10 0 0 cm
BT
/R103 5.57904 Tf
1 0 0 1 432.218 652.498 Tm
[ (k) -0.29757 ] TJ
/R193 3.98504 Tf
3.38867 -0.79688 Td
[ (2) -0.60039 ] TJ
/R160 7.97008 Tf
-7.99609 -6.69414 Td
(t) Tj
/R103 5.57904 Tf
4.18477 -1.19609 Td
[ (z) -0.79644 ] TJ
/R187 9.9626 Tf
7.87773 28.2773 Td
[ (\043) -0.29897 ] TJ
/R54 9.9626 Tf
12.4539 -17.0359 Td
[ (\073) -0.80379 ] TJ
/R37 9.9626 Tf
81.3691 0 Td
(\0508\051) Tj
-224.634 -31.193 Td
(where) Tj
/R160 9.9626 Tf
26.8289 0 Td
(t) Tj
/R103 6.9738 Tf
5.23008 -1.49414 Td
[ (z) -0.79819 ] TJ
/R37 9.9626 Tf
7.08203 1.49414 Td
[ (is) -249.985 (the) -249.99 (last) -249.98 (element) -250.017 (of) -249.997 (the) -249.988 (unkno) 25 (wn) -249.988 (translation\056) ] TJ
/R35 9.9626 Tf
-39.141 -16.202 Td
[ (2D\0552D) -324.992 (Constraints\056) ] TJ
/R37 9.9626 Tf
91.7738 0 Td
[ (A) -325.002 (3D) -324.995 (line) -324.99 (can) -325.009 (be) -325.005 (represented) -325 (using) ] TJ
-91.7738 -11.9551 Td
(Pl) Tj
9.13984 0.04922 Td
(\250) Tj
-0.83086 -0.04922 Td
[ (uck) 10.0032 (er) -252.985 (coordinates) -252.992 (\133) ] TJ
ET
Q
0 1 0 rg
q
10 0 0 10 0 0 cm
BT
/R37 9.9626 Tf
1 0 0 1 393.484 595.702 Tm
(21) Tj
ET
Q
0 g
q
10 0 0 10 0 0 cm
BT
/R37 9.9626 Tf
1 0 0 1 403.447 595.702 Tm
[ (\135) -254 (as) ] TJ
/R111 9.9626 Tf
16.6664 0 Td
[ (L) -0.69596 ] TJ
/R90 9.9626 Tf
9.71797 0 Td
[ (\075) -284.786 (\133) -0.80379 ] TJ
/R111 9.9626 Tf
13.3438 0 Td
[ (q) -0.89691 ] TJ
/R162 6.9738 Tf
6.04609 3.61484 Td
[ (\174) -0.79819 ] TJ
/R111 9.9626 Tf
7.53203 -3.61484 Td
[ (q) -0.89691 ] TJ
/R107 6.9738 Tf
6.04688 3.61484 Td
[ (0) -0.39909 ] TJ
/R162 6.9738 Tf
2.79492 1.41133 Td
[ (\174) -0.79819 ] TJ
/R90 9.9626 Tf
5.00938 -5.02617 Td
[ (\135) -0.80379 ] TJ
/R162 6.9738 Tf
2.7668 3.61484 Td
[ (\174) -0.79819 ] TJ
/R101 9.9626 Tf
7.83711 -3.61484 Td
[ (2) -0.69596 ] TJ
/R191 9.9626 Tf
9.46875 0 Td
[ (R) -0.19605 ] TJ
/R109 6.9738 Tf
7.19531 3.61484 Td
[ (6) -0.49712 ] TJ
/R37 9.9626 Tf
4.46875 -3.61484 Td
[ (\056) -319.981 (Here) ] TJ
/R111 9.9626 Tf
27.5562 0 Td
[ (q) -0.89691 ] TJ
/R37 9.9626 Tf
8.56992 0 Td
(is) Tj
-229.605 -11.9559 Td
[ (the) -223.014 (unit) -224.017 (direction) -222.997 (of) -222.98 (the) -223.994 (line\054) -227.982 (and) ] TJ
/R111 9.9626 Tf
131.016 0 Td
[ (q) -0.89691 ] TJ
/R107 6.9738 Tf
6.04688 3.61602 Td
[ (0) -0.39909 ] TJ
/R90 9.9626 Tf
5.56211 -3.61602 Td
[ (\075) -0.80379 ] TJ
/R111 9.9626 Tf
10.516 0 Td
[ (q) -0.89691 ] TJ
/R101 9.9626 Tf
7.27813 0 Td
[ <02> -0.80379 ] TJ
/R111 9.9626 Tf
8.98008 0 Td
[ (p) -0.89691 ] TJ
/R37 9.9626 Tf
8.58984 0 Td
(where) Tj
/R111 9.9626 Tf
26.5641 0 Td
[ (p) -0.89691 ] TJ
/R37 9.9626 Tf
8.58984 0 Td
[ (is) -223.007 (an) 15.0171 (y) ] TJ
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[ (point) -236.01 (on) -235.01 (the) -235.992 (line\056) -304.991 (A) -235.997 (gi) 24.9885 (v) 14.9828 (en) -236 (pair) -235.995 (of) -235.02 (lines\054) ] TJ
/R103 6.9738 Tf
155.944 3.61602 Td
[ (a) -0.70017 ] TJ
/R111 9.9626 Tf
4.81875 -3.61602 Td
[ (L) -0.69596 ] TJ
/R37 9.9626 Tf
9.23906 0 Td
(and) Tj
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16.7352 3.61602 Td
[ (b) -0.39909 ] TJ
/R111 9.9626 Tf
4.00195 -3.61602 Td
[ (L) -0.69596 ] TJ
/R37 9.9626 Tf
6.89023 0 Td
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-197.629 -11.9551 Td
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/R103 6.9738 Tf
47.134 3.61484 Td
[ (a) -0.70017 ] TJ
/R111 9.9626 Tf
3.15898 -3.61484 Td
[ (q) -0.90181 ] TJ
/R101 9.9626 Tf
8.26094 0 Td
[ <01> -0.79889 ] TJ
/R103 6.9738 Tf
2.76719 3.61484 Td
[ (b) -0.39909 ] TJ
/R111 9.9626 Tf
4.55586 -3.61484 Td
[ (q) -0.90181 ] TJ
/R107 6.9738 Tf
6.04609 3.61484 Td
[ (0) -0.39909 ] TJ
/R90 9.9626 Tf
5.00898 -3.61484 Td
[ (\053) -0.79889 ] TJ
/R103 6.9738 Tf
7.74922 3.61484 Td
[ (a) -0.70017 ] TJ
/R111 9.9626 Tf
5.37266 -3.61484 Td
[ (q) -0.90181 ] TJ
/R107 6.9738 Tf
6.04727 3.61484 Td
[ (0) -0.39909 ] TJ
/R101 9.9626 Tf
5.00898 -3.61484 Td
[ <01> -0.80379 ] TJ
/R103 6.9738 Tf
2.7668 3.61484 Td
[ (b) -0.39909 ] TJ
/R111 9.9626 Tf
4.55508 -3.61484 Td
[ (q) -0.89691 ] TJ
/R90 9.9626 Tf
8.81406 0 Td
[ (\075) -278.787 (0) ] TJ
/R37 9.9626 Tf
15.498 0 Td
[ (\056) -372.992 (In) -271.014 (order) -271.014 (for) -271.014 (the) ] TJ
/R54 9.9626 Tf
70.1199 0 Td
[ (j) -0.79889 ] TJ
/R37 9.9626 Tf
4.67305 0 Td
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-207.537 -11.9551 Td
(\050with) Tj
/R54 9.9626 Tf
23.475 0 Td
[ (j) -0.79889 ] TJ
/R90 9.9626 Tf
7.43984 0 Td
[ (\075) -278.784 (1) ] TJ
/R54 9.9626 Tf
17.1582 0 Td
[ (\072) -167.788 (\072) -166.808 (\072) -167.788 (n) -0.1985 ] TJ
/R37 9.9626 Tf
19.2629 0 Td
[ (\051) -244.981 (in) -245.986 (the) -245.011 (camera) -244.989 (frame) ] TJ
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87.4562 3.61523 Td
(C) Tj
/R111 9.9626 Tf
3.8207 -3.61523 Td
[ (L) -0.69596 ] TJ
/R103 6.9738 Tf
6.89102 -1.49492 Td
[ (j) -0.70017 ] TJ
/R37 9.9626 Tf
6.64102 1.49492 Td
[ (to) -245.008 (intersect) -245.983 (with) ] TJ
-172.145 -11.9551 Td
[ (its) -250.017 (matched) -249.98 (line) -249.983 (in) -249.985 (the) -249.99 (global) -250.012 (frame) ] TJ
/R37 4.9813 Tf
143.609 3.61523 Td
(G) Tj
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4.09492 -3.61523 Td
[ (L) -0.69596 ] TJ
/R103 6.9738 Tf
6.89102 -1.49492 Td
[ (j) -0.70017 ] TJ
/R37 9.9626 Tf
6.68828 1.49492 Td
[ (we) -249.997 (must) -250.007 (ha) 19.9967 (v) 14.9828 (e) -250.002 (that) ] TJ
/R37 4.9813 Tf
-125.149 -18.3289 Td
(C) Tj
/R111 9.9626 Tf
3.82109 -4.11289 Td
[ (q) -0.90181 ] TJ
/R162 6.9738 Tf
6.04688 4.75586 Td
[ (\174) -0.79819 ] TJ
/R103 6.9738 Tf
7.53281 TL
T*
[ (j) -0.70017 ] TJ
/R160 9.9626 Tf
6.66914 2.77695 Td
(R) Tj
/R37 4.9813 Tf
6.89102 4.11289 Td
(G) Tj
/R111 9.9626 Tf
4.09375 -4.11289 Td
[ (q) -0.90181 ] TJ
/R107 6.9738 Tf
6.04727 4.11289 Td
[ (0) -0.39909 ] TJ
/R103 6.9738 Tf
6.57578 TL
T*
[ (j) -0.70017 ] TJ
/R90 9.9626 Tf
6.41172 2.46289 Td
[ (\053) -0.79889 ] TJ
/R37 4.9813 Tf
9.96211 4.11289 Td
(C) Tj
/R111 9.9626 Tf
3.82109 -4.11289 Td
[ (q) -0.90181 ] TJ
/R107 6.9738 Tf
6.04688 4.11289 Td
[ (0) -0.39909 ] TJ
/R162 6.9738 Tf
2.79492 1.41094 Td
[ (\174) -0.79819 ] TJ
/R103 6.9738 Tf
7.98672 TL
T*
[ (j) -0.70017 ] TJ
/R160 9.9626 Tf
6.66914 2.46289 Td
(R) Tj
/R37 4.9813 Tf
6.89102 4.11289 Td
(G) Tj
/R111 9.9626 Tf
4.09492 -4.11289 Td
[ (q) -0.89691 ] TJ
/R103 6.9738 Tf
6.04609 -1.49492 Td
[ (j) -0.70017 ] TJ
/R90 9.9626 Tf
6.96484 1.49492 Td
[ (\075) -0.80379 ] TJ
/R37 4.9813 Tf
10.5172 4.11289 Td
(C) Tj
/R111 9.9626 Tf
3.81992 -4.11289 Td
[ (q) -0.89691 ] TJ
/R162 6.9738 Tf
6.04688 4.75586 Td
[ (\174) -0.79819 ] TJ
/R103 6.9738 Tf
7.53281 TL
T*
[ (j) -0.70017 ] TJ
/R101 9.9626 Tf
6.66914 2.77695 Td
[ (b) -0.40189 ] TJ
/R160 9.9626 Tf
4.42812 0 Td
(t) Tj
/R101 9.9626 Tf
5.23008 0 Td
[ (c) -0.40189 ] TJ
/R189 6.9738 Tf
4.42773 -1.49492 Td
[ (x) -0.59514 ] TJ
/R160 9.9626 Tf
3.91328 1.49492 Td
(R) Tj
/R37 4.9813 Tf
6.88984 4.11289 Td
(G) Tj
/R111 9.9626 Tf
4.09492 -4.11289 Td
[ (q) -0.89691 ] TJ
/R103 6.9738 Tf
6.04727 -1.49492 Td
[ (j) -0.70017 ] TJ
/R54 9.9626 Tf
5.85781 1.49492 Td
[ (\073) -0.80379 ] TJ
/R37 9.9626 Tf
27.2852 0 Td
(\0509\051) Tj
-224.633 -22.443 Td
[ (Notice) -231.006 (that\054) -235.002 (as) -231.018 (opposed) -230.993 (to) -231.01 (\050) ] TJ
ET
Q
1 0 0 rg
q
10 0 0 10 0 0 cm
BT
/R37 9.9626 Tf
1 0 0 1 416.977 491.041 Tm
(5) Tj
ET
Q
0 g
q
10 0 0 10 0 0 cm
BT
/R37 9.9626 Tf
1 0 0 1 421.958 491.041 Tm
[ (\051\054) -234.98 (\050) ] TJ
ET
Q
1 0 0 rg
q
10 0 0 10 0 0 cm
BT
/R37 9.9626 Tf
1 0 0 1 433.425 491.041 Tm
(9) Tj
ET
Q
0 g
q
10 0 0 10 0 0 cm
BT
/R37 9.9626 Tf
1 0 0 1 438.406 491.041 Tm
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[ (resulting) -297.994 (from) -298.998 (the) -297.982 (pre) 25.013 (vious) -298.981 (s) 0.98635 (ub) -1.00964 (s) 0.98635 (titution\054) -310.992 (and) -297.985 (the) -299.002 (constraint) ] TJ
11.9559 TL
T*
[ (of) -380.013 (the) -380.987 (rotation) -379.986 (parameterization) -381.011 (\050) ] TJ
ET
Q
1 0 0 rg
q
10 0 0 10 0 0 cm
BT
/R37 9.9626 Tf
1 0 0 1 187.008 413.948 Tm
(3) Tj
ET
Q
0 g
q
10 0 0 10 0 0 cm
BT
/R37 9.9626 Tf
1 0 0 1 191.989 413.948 Tm
[ (\051\056) -700.982 (The) -380.01 (solv) 15 (er) -381.003 (obtained) ] TJ
-141.877 -11.9551 Td
[ (has) -249.991 (a) ] TJ
/R90 9.9626 Tf
22.6848 0 Td
(6) Tj
/R101 9.9626 Tf
5.53516 0 Td
[ <02> -0.7995 ] TJ
/R90 9.9626 Tf
8.30195 0 Td
(10) Tj
/R37 9.9626 Tf
12.4531 0 Td
[ (template\054) -250.009 (with) -250.015 (an) -249.996 (action) -249.982 (matrix) -250.012 (of) -249.995 (size) ] TJ
/R90 9.9626 Tf
155.505 0 Td
(4) Tj
/R37 9.9626 Tf
4.98086 0 Td
(\056) Tj
/R35 9.9626 Tf
-209.461 -16.5371 Td
(uH31\053s) Tj
/R37 9.9626 Tf
39.9777 0 Td
[ (Similarly) -360.005 (to) ] TJ
/R35 9.9626 Tf
52.0133 0 Td
(H51\053s) Tj
/R37 9.9626 Tf
27.268 0 Td
[ (\054) -386.992 (we) -359.98 (start) -360.006 (by) -360.009 (eliminating) -360.004 (the) ] TJ
-119.259 -11.9559 Td
[ <02727374> -320 (tw) 10.0081 (o) -321 (elements) -320 (of) ] TJ
/R160 9.9626 Tf
86.8281 0 Td
(t) Tj
/R37 9.9626 Tf
8.4207 0 Td
[ (using) -319.997 (\050) ] TJ
ET
Q
1 0 0 rg
q
10 0 0 10 0 0 cm
BT
/R37 9.9626 Tf
1 0 0 1 173.455 373.5 Tm
(8) Tj
ET
Q
0 g
q
10 0 0 10 0 0 cm
BT
/R37 9.9626 Tf
1 0 0 1 178.437 373.5 Tm
[ (\051\056) -521.012 (Then\054) -338.01 (we) -321.008 (substitute) -320.013 (this) ] TJ
-128.325 -11.9551 Td
[ (e) 15.0128 (xpression) -222.99 (into) -222.997 (\050) ] TJ
ET
Q
1 0 0 rg
q
10 0 0 10 0 0 cm
BT
/R37 9.9626 Tf
1 0 0 1 115.835 361.545 Tm
(9) Tj
ET
Q
0 g
q
10 0 0 10 0 0 cm
BT
/R37 9.9626 Tf
1 0 0 1 120.816 361.545 Tm
[ (\051) -222.006 (with) ] TJ
/R54 9.9626 Tf
25.4668 0 Td
[ (j) -0.80011 ] TJ
/R90 9.9626 Tf
7.43984 0 Td
[ (\075) -278.784 (1) ] TJ
/R54 9.9626 Tf
15.4969 0 Td
[ (\073) -0.80011 ] TJ
/R90 9.9626 Tf
4.42812 0 Td
(2) Tj
/R54 9.9626 Tf
4.98203 0 Td
[ (\073) -0.80011 ] TJ
/R90 9.9626 Tf
4.42695 0 Td
(3) Tj
/R37 9.9626 Tf
4.98203 0 Td
[ (\054) -227.999 (leading) -223.002 (to) -223.009 (a) -222.987 (system) -222.01 (of) ] TJ
/R90 9.9626 Tf
93.3418 0 Td
(3) Tj
/R37 9.9626 Tf
-231.269 -11.9551 Td
[ (polynomials) -264.013 (in) -263.983 (terms) -262.997 (of) ] TJ
/R54 9.9626 Tf
97.9641 0 Td
[ (a) -0.60039 ] TJ
/R37 9.9626 Tf
5.26602 0 Td
(\054) Tj
/R54 9.9626 Tf
5.15391 0 Td
[ (b) -0.20095 ] TJ
/R37 9.9626 Tf
4.275 0 Td
(\054) Tj
/R160 9.9626 Tf
5.15391 0 Td
(t) Tj
/R103 6.9738 Tf
5.23008 -1.49375 Td
[ (z) -0.79994 ] TJ
/R37 9.9626 Tf
7.21914 1.49375 Td
(and) Tj
/R54 9.9626 Tf
17.0137 0 Td
[ (s) -0.80011 ] TJ
/R37 9.9626 Tf
4.67031 0 Td
[ (\056) -350.998 (Adding) -264.005 (the) -263.988 (rotation) ] TJ
-151.946 -11.9551 Td
[ (parameterization) -211.981 (constraint) -212.012 (leads) -211.994 (to) -211.992 (an) -212.983 (elimination) -211.989 (template) ] TJ
11.9547 TL
T*
[ (of) -249.996 (size) ] TJ
/R90 9.9626 Tf
28.7719 0 Td
(30) Tj
/R101 9.9626 Tf
10.516 0 Td
[ <02> -0.7995 ] TJ
/R90 9.9626 Tf
8.30195 0 Td
(36) Tj
/R37 9.9626 Tf
12.4531 0 Td
[ (and) -249.991 (an) -249.996 (eigen\055decomposition) -250.01 (of) -249.995 (size) ] TJ
/R90 9.9626 Tf
143.6 0 Td
(6) Tj
/R37 9.9626 Tf
4.98203 0 Td
(\056) Tj
/R35 10.9589 Tf
-208.625 -21.718 Td
[ (4\0562\056) -250.005 (Kno) 9.99718 (wn) -250.011 (Scale) -249.985 (Solv) 9.99718 (ers) ] TJ
/R35 9.9626 Tf
22.5152 TL
(H22) '
/R37 9.9626 Tf
24.468 0 Td
[ (W) 79.9873 (e) -339.007 (be) 15.0177 (gin) -338.985 (by) -338.992 (eliminating) ] TJ
/R160 9.9626 Tf
103.878 0 Td
(t) Tj
/R37 9.9626 Tf
8.60781 0 Td
(using) Tj
/R90 9.9626 Tf
24.966 0 Td
(3) Tj
/R37 9.9626 Tf
8.3582 0 Td
[ (equations) -339.01 (out) -338.985 (of) ] TJ
-170.278 -11.9551 Td
(the) Tj
/R90 9.9626 Tf
14.3828 0 Td
(4) Tj
/R37 9.9626 Tf
7.19023 0 Td
[ (gi) 24.9885 (v) 14.9828 (en) -222.002 (by) -221.012 (our) ] TJ
/R90 9.9626 Tf
51.607 0 Td
(2) Tj
/R37 9.9626 Tf
7.18984 0 Td
[ (2D\0553D) -221.99 (matches\056) -300.009 (Afterw) 10 (ards) -222 (we) -222.005 (simply) ] TJ
-80.3699 -11.9547 Td
[ (substitute) -249.005 (this) -248.992 (into) -248.993 (the) -249.01 (remaining) -248.988 (2D\0553D) -249.005 (constraint) -248.985 (plus) -248.995 (the) ] TJ
11.9551 TL
T*
[ (tw) 10.0081 (o) -315.982 (2D\0552D) -314.994 (constraints\056) -507.013 (This) -314.984 (yields) -316 (a) -315.011 (system) -315.994 (of) ] TJ
/R90 9.9626 Tf
197.131 0 Td
(3) Tj
/R37 9.9626 Tf
8.125 0 Td
(polyno\055) Tj
-205.256 -11.9551 Td
[ (mials) -292.002 (in) ] TJ
/R111 9.9626 Tf
35.1621 0 Td
[ (u) -0.89997 ] TJ
/R37 9.9626 Tf
6.36484 0 Td
[ (\056) -436.983 (W) 79.9879 (e) -291.995 (get) -291.983 (an) -291.989 (elimination) -292.015 (template) -292.985 (of) -291.988 (size) ] TJ
/R90 9.9626 Tf
165.319 0 Td
(23) Tj
/R101 9.9626 Tf
10.8277 0 Td
[ <02> -0.79889 ] TJ
/R90 9.9626 Tf
8.61328 0 Td
(39) Tj
/R37 9.9626 Tf
-226.287 -11.9559 Td
(and) Tj
/R90 9.9626 Tf
16.877 0 Td
(16) Tj
/R37 9.9626 Tf
12.4531 0 Td
(solutions\056) Tj
/R35 9.9626 Tf
-29.3301 -16.5371 Td
(H41) Tj
/R37 9.9626 Tf
22.6871 0 Td
[ (F) 14.992 (or) -249.996 (this) -248.992 (solv) 15.0012 (er) -250.005 (we) -249.018 (use) -249.99 (\050) ] TJ
ET
Q
1 0 0 rg
q
10 0 0 10 0 0 cm
BT
/R37 9.9626 Tf
1 0 0 1 165.73 205.134 Tm
(8) Tj
ET
Q
0 g
q
10 0 0 10 0 0 cm
BT
/R37 9.9626 Tf
1 0 0 1 170.712 205.134 Tm
[ (\051) -250.001 (with) -248.995 (only) -250.015 (2D\0553D) -249.985 (const) 1 (raint) ] TJ
-120.6 -11.9551 Td
[ (to) -271.001 (eliminate) -270.981 (tw) 10.0081 (o) -271.989 (translation) -271.015 (parameters\056) -372.987 (W) 79.9866 (e) -271.999 (then) -271.001 (substitute) ] TJ
11.9551 TL
T*
[ (back) -281.991 (into) ] TJ
/R90 9.9626 Tf
39.9391 0 Td
(4) Tj
/R37 9.9626 Tf
7.7957 0 Td
(\050) Tj
ET
Q
1 0 0 rg
q
10 0 0 10 0 0 cm
BT
/R37 9.9626 Tf
1 0 0 1 101.164 181.224 Tm
(9) Tj
ET
Q
0 g
q
10 0 0 10 0 0 cm
BT
/R37 9.9626 Tf
1 0 0 1 106.146 181.224 Tm
[ (\051) -281.996 (constraints\056) -408.01 (Since\054) -290.009 (as) -283.01 (mentioned\054) -289.991 (all) -283.002 (of) -281.99 (this) ] TJ
-56.0336 -11.9559 Td
[ (equations) -325.992 (are) -325.017 (homogeneous\054) -344.994 (we) -325.986 (multiply) -324.987 (out) -326.007 (the) -326.017 (resulting) ] TJ
11.9551 TL
T*
[ (polynomial) -263 (system) -264.003 (in) ] TJ
/R111 9.9626 Tf
88.6848 0 Td
[ (u) -0.89936 ] TJ
/R37 9.9626 Tf
8.98828 0 Td
(and) Tj
/R160 9.9626 Tf
17.009 0 Td
(t) Tj
/R103 6.9738 Tf
5.23008 -1.49375 Td
[ (z) -0.79994 ] TJ
/R37 9.9626 Tf
7.21367 1.49375 Td
[ (by) -263.005 (the) -263.988 (scale) -263.015 (of) -263.012 (the) -263.008 (rotation\056) ] TJ
-127.126 -11.9551 Td
[ (This) -264.993 <73696d706c69026573> -264.993 (the) -265.007 (algebraic) -265.011 (representation) -264.99 (of) -265.992 (the) -265.007 (problem\054) ] TJ
T*
[ (ho) 24.986 (we) 25.0142 (v) 14.9828 (er) -218.99 (we) -218.984 (are) -218.995 (still) -218.988 (left) -219.015 (with) -219 (a) -220.007 (rather) -218.986 (lar) 17.997 (ge) -218.983 (elimination) -219.008 (tem\055) ] TJ
T*
[ (plate) -310.016 (of) -309.005 (size) ] TJ
/R90 9.9626 Tf
52.4109 0 Td
(244) Tj
/R101 9.9626 Tf
15.9371 0 Td
[ <02> -0.80011 ] TJ
/R90 9.9626 Tf
8.7418 0 Td
(277) Tj
/R37 9.9626 Tf
18.0289 0 Td
[ (and) -309.981 (an) -309.006 (action) -310.011 (matrix) -308.983 (with) -310.005 (up) -308.997 (to) -310.014 (32) ] TJ
-95.1188 -11.9563 Td
[ (v) 24.9811 (alid) -249.982 (solutions\056) ] TJ
/R35 9.9626 Tf
16.5367 TL
(uH21) '
/R37 9.9626 Tf
29.0699 0 Td
[ (As) -291.981 (in) -292.017 (the) -291.983 (pre) 25.013 (vious) -292.002 (solv) 15.0012 (er) 39.986 (\054) -301.986 (we) -291.992 (eliminate) -291.998 (the) -291.983 (last) -292.013 (tw) 10.0081 (o) ] TJ
-29.0699 -11.9551 Td
[ (elements) -337.017 (of) -337 (the) -336.995 (translation\056) -569.982 (W) 79.9879 (e) -337.007 (arri) 25.0118 (v) 14.9828 (e) -337.007 (at) -337 (tw) 10.0081 (o) -336.998 (2D\0552D) -336.99 (con\055) ] TJ
258.75 629.037 Td
[ (straints) -363.006 (in) ] TJ
/R160 9.9626 Tf
43.7648 0 Td
(t) Tj
/R103 6.9738 Tf
5.23125 -1.49414 Td
[ (z) -0.79819 ] TJ
/R37 9.9626 Tf
4.58984 1.49414 Td
(\054) Tj
/R54 9.9626 Tf
6.38906 0 Td
[ (a) -0.60039 ] TJ
/R37 9.9626 Tf
8.88203 0 Td
(and) Tj
/R54 9.9626 Tf
18.0027 0 Td
[ (b) -0.20095 ] TJ
/R37 9.9626 Tf
7.89219 0 Td
[ (plus) -363.013 (one) -362.993 (constraint) -363.008 (on) -362.988 (the) -362.988 (rotation) ] TJ
-94.752 -11.9551 Td
[ (parameterization\056) -413.002 (W) 79.9866 (e) -283.997 (solv) 15.0024 (e) -283.997 (this) -284.007 (system) -283.997 (of) -285.011 (three) -283.992 (polynomi\055) ] TJ
11.9551 TL
T*
[ (als) -227.011 (using) -226.992 (a) ] TJ
/R90 9.9626 Tf
43.8719 0 Td
(8) Tj
/R101 9.9626 Tf
4.69609 0 Td
[ <02> -0.79889 ] TJ
/R90 9.9626 Tf
7.46211 0 Td
(12) Tj
/R37 9.9626 Tf
12.227 0 Td
[ (template) -226.996 (yielding) -226.982 (an) -228.001 (action) -227.006 (matrix) -226.996 (with) -226.996 (up) ] TJ
-68.257 -11.9551 Td
(to) Tj
/R90 9.9626 Tf
10.241 0 Td
(4) Tj
/R37 9.9626 Tf
7.47187 0 Td
(solutions\056) Tj
/R35 11.9552 Tf
-17.7129 -33.898 Td
[ (5\056) -249.989 (Results) ] TJ
/R37 9.9626 Tf
11.9551 -22.259 Td
[ (First\054) -313.012 (we) -299.992 (e) 25.0105 (v) 24.9811 (aluate) -299.982 (the) -301.001 (numerical) -300.009 (stability) -299.979 (of) -299.989 (the) -300.999 (solv) 15.0024 (ers\056) ] TJ
-11.9551 -11.9547 Td
[ (This) -439.983 (is) -439.993 (used) -439.993 (not) -439.988 (only) -439.983 (to) -439.995 (v) 24.9811 (alidate) -439.99 (our) -440 (deri) 24.9811 (v) 24.9811 (ations\054) -488.007 (b) 20.0016 (ut) -439.995 (to) ] TJ
T*
[ (guide) -243.981 (our) -243.991 (prior) ] TJ
/R54 9.9626 Tf
62.0758 0 Td
(P) Tj
/R103 6.9738 Tf
6.39609 -1.49414 Td
[ (p) -0.89971 ] TJ
/R90 9.9626 Tf
4.60508 1.49414 Td
[ (\050) -0.90181 ] TJ
/R54 9.9626 Tf
3.875 0 Td
[ (s) -0.79889 ] TJ
/R90 9.9626 Tf
4.66992 0 Td
[ (\051) -0.90181 ] TJ
/R37 9.9626 Tf
6.30508 0 Td
(\050) Tj
/R47 9.9626 Tf
3.3168 0 Td
(c\056f) Tj
/R37 9.9626 Tf
11.1383 0 Td
[ (\056) -243.994 (Sec\056) ] TJ
ET
Q
1 0 0 rg
q
10 0 0 10 0 0 cm
BT
/R37 9.9626 Tf
1 0 0 1 435.473 594.105 Tm
(3) Tj
ET
Q
0 g
q
10 0 0 10 0 0 cm
BT
/R37 9.9626 Tf
1 0 0 1 440.454 594.105 Tm
[ (\051\056) -307.988 (Afterw) 9.99833 (ards\054) -245.013 (we) -243.999 (perform) ] TJ
-131.592 -11.9551 Td
[ (tw) 10.0081 (o) -360.994 (dif) 24.986 (ferent) -361.001 (real\055data) -361.003 (e) 25.0105 (v) 24.9811 (aluati) 1 (ons) -360.984 (for) -360.999 (instances) -361.013 (of) ] TJ
/R35 8.9664 Tf
210.454 0 Td
(P) Tj
/R35 7.1731 Tf
5.92695 0 Td
[ (R) -32.0139 (O) -62 (B) ] TJ
/R35 8.9664 Tf
16.659 0 Td
(\055) Tj
/R35 7.1731 Tf
-232.816 -11.9551 Td
[ (L) -62.0162 (E) -62.0162 (M) ] TJ
/R156 8.9664 Tf
19.6902 0 Td
[ (6) -0.69977 ] TJ
/R35 8.9664 Tf
5.52891 0 Td
(\055) Tj
/R35 7.9701 Tf
3.40977 0 Td
(D) Tj
/R35 6.3761 Tf
6.15234 0 Td
(O) Tj
/R35 7.9701 Tf
5.35586 0 Td
(F) Tj
/R37 9.9626 Tf
7.55977 0 Td
(and) Tj
/R35 8.9664 Tf
17.1012 0 Td
(P) Tj
/R35 7.1731 Tf
5.92695 0 Td
[ (R) -32.0105 (O) -62 (B) -60.9815 (L) -62.0162 (E) -62.0162 (M) ] TJ
/R156 8.9664 Tf
36.3492 0 Td
[ (5) -0.70249 ] TJ
/R35 8.9664 Tf
5.52891 0 Td
(\055) Tj
/R35 7.9701 Tf
3.40898 0 Td
(D) Tj
/R35 6.3761 Tf
6.15313 0 Td
(O) Tj
/R35 7.9701 Tf
5.35586 0 Td
(F) Tj
/R37 9.9626 Tf
5.06914 0 Td
(\056) Tj
/R35 10.9589 Tf
-132.814 -29.9129 Td
[ (5\0561\056) -250.004 (Numerical) -249.993 (Stability) -250.015 (of) -249.989 (the) -250.011 (Minimal) -250.015 (Solv) 9.99829 (ers) ] TJ
/R37 9.9626 Tf
11.9547 -21.2621 Td
[ (F) 14.9926 (or) -529.988 (each) -529.997 (solv) 15 (er) -529.997 (we) -531.012 (generated) ] TJ
/R90 9.9626 Tf
132.889 0 Td
(10) Tj
/R109 6.9738 Tf
9.96328 3.61484 Td
[ (6) -0.49712 ] TJ
/R37 9.9626 Tf
9.75078 -3.61484 Td
[ (random) -530.01 (synthetic) ] TJ
-164.558 -11.9551 Td
[ (scenes) -243.013 (and) -243.013 (compared) -243.989 (the) -243.011 (obtained) -242.994 (best) -243.004 (pose) -243.008 (ag) 5.01877 (ainst) -244.018 (ground) ] TJ
11.9559 TL
T*
[ (truth\056) -508.989 (F) 14.9926 (or) -315.984 (each) -315.994 (synthetic) -317.011 (s) 0.98513 (cene) -317.016 (we) -315.986 (generated) -315.986 (3D) -316.016 (points) -317.011 (in) ] TJ
11.9551 TL
(the) '
/R90 9.9626 Tf
15.9328 0 Td
[ (\133) -0.79889 ] TJ
/R101 9.9626 Tf
2.76719 0 Td
[ <00> -0.79889 ] TJ
/R90 9.9626 Tf
7.74883 0 Td
(1) Tj
/R54 9.9626 Tf
4.98125 0 Td
[ (\073) -0.79889 ] TJ
/R90 9.9626 Tf
4.42773 0 Td
[ (1\135) -0.79889 ] TJ
/R101 9.9626 Tf
9.24219 0 Td
[ <02> -0.79889 ] TJ
/R90 9.9626 Tf
9.24102 0 Td
[ (\133) -0.79889 ] TJ
/R101 9.9626 Tf
2.7668 0 Td
[ <00> -0.79889 ] TJ
/R90 9.9626 Tf
7.74922 0 Td
(1) Tj
/R54 9.9626 Tf
4.98086 0 Td
[ (\073) -0.79889 ] TJ
/R90 9.9626 Tf
4.42812 0 Td
[ (1\135) -0.79889 ] TJ
/R101 9.9626 Tf
10.902 0 Td
[ <02> -0.79889 ] TJ
/R90 9.9626 Tf
10.902 0 Td
[ (\133) -0.79889 (2) ] TJ
/R54 9.9626 Tf
7.74883 0 Td
[ (\073) -0.80379 ] TJ
/R90 9.9626 Tf
4.42812 0 Td
[ (10\135) -0.80379 ] TJ
/R37 9.9626 Tf
16.4879 0 Td
[ (cube\056) -691.997 (Each) -376.996 (synthetic) -377 (cam\055) ] TJ
-124.735 -11.9551 Td
[ (era) -373.009 (w) 10 (as) -372.994 (placed) -372.992 (with) -373.014 (a) -373.001 (random) -373.016 (center) -373.001 (of) -372.997 (projection) -373.006 (in) -372.987 (the) ] TJ
(range) '
/R90 9.9626 Tf
25.1629 0 Td
[ (\133) -0.79889 ] TJ
/R101 9.9626 Tf
2.76797 0 Td
[ <00> -0.79889 ] TJ
/R90 9.9626 Tf
7.74805 0 Td
(1) Tj
/R54 9.9626 Tf
4.98203 0 Td
[ (\073) -0.79889 ] TJ
/R90 9.9626 Tf
4.42812 0 Td
[ (1\135) -0.79889 ] TJ
/R101 9.9626 Tf
8.70586 0 Td
[ <02> -0.79889 ] TJ
/R90 9.9626 Tf
8.70586 0 Td
[ (\133) -0.79889 ] TJ
/R101 9.9626 Tf
2.76797 0 Td
[ <00> -0.79889 ] TJ
/R90 9.9626 Tf
7.74922 0 Td
(1) Tj
/R54 9.9626 Tf
4.98086 0 Td
[ (\073) -0.79889 ] TJ
/R90 9.9626 Tf
4.42812 0 Td
[ (1\135) -0.79889 ] TJ
/R101 9.9626 Tf
8.70586 0 Td
[ <02> -0.79889 ] TJ
/R90 9.9626 Tf
8.70703 0 Td
[ (\133) -0.80379 ] TJ
/R101 9.9626 Tf
2.76719 0 Td
[ <00> -0.80379 ] TJ
/R90 9.9626 Tf
7.74883 0 Td
(1) Tj
/R54 9.9626 Tf
4.98086 0 Td
[ (\073) -0.80379 ] TJ
/R90 9.9626 Tf
4.42812 0 Td
[ (1\135) -0.80379 ] TJ
/R37 9.9626 Tf
7.74883 0 Td
[ (\056) -473.994 (W) 79.9866 (e) -305.013 (then) -304.993 (generated) -305.008 (a) -303.993 (ran\055) ] TJ
-127.514 -11.9547 Td
[ (dom) -395.01 (rotation) -395.003 (and) -396.007 (translation) -394.993 (\050and) -394.993 (if) -394.988 (applicable) -395.013 (a) -396.017 (random) ] TJ
11.9563 TL
(scale) '
/R101 9.9626 Tf
22.6238 0 Td
[ (2) -0.70086 ] TJ
/R90 9.9626 Tf
9.81484 0 Td
[ (\133) -0.79889 (1) ] TJ
/R54 9.9626 Tf
7.74805 0 Td
[ (\073) -0.79889 ] TJ
/R90 9.9626 Tf
4.42812 0 Td
[ (10\135) -0.79889 ] TJ
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12.7301 0 Td
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-57.3449 -11.9547 Td
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11.9551 TL
T*
[ (co) 15.0171 (v) 14.9828 (er) -254.984 (the) -255.989 (requirements) -254.989 (of) -255.016 (each) -254.987 (solv) 15.0024 (er) 55 (\056) -325.98 (F) 14.9926 (or) -255.016 (2D\0553D) -255.982 (matches\054) ] TJ
T*
[ (we) -257.018 (projected) -255.984 (each) -256.984 (transformed) -256.016 (3D) -257.006 (point) -256.987 (to) -255.987 (the) -257.006 (transformed) ] TJ
T*
[ (frame) -194.009 (and) -194.002 (associated) -193.987 (it) -193.992 (with) -193.982 (the) -193.997 (original) -194.017 (3D) -193.997 (generated) -194.007 (point\056) ] TJ
T*
[ (F) 14.9926 (or) -346.018 (2D\0552D) -346.008 (mat) 0.99493 (ches\054) -370.012 (we) -345.984 (also) -346.006 (project) -346.006 (the) -344.991 (3D) -346.011 (points) -345.986 (to) -346.011 (ob\055) ] TJ
11.9559 TL
T*
[ (tain) -199.991 (2D) -199.998 (measurements) -200.991 (in) -199.994 (the) -199.996 (query) -199.996 (frame\054) -210.004 (while) -199.986 (k) 10.0032 (eeping) -201.011 (the) ] TJ
11.9551 TL
T*
[ (original) -307.998 (camera) -307.995 (and) -307.983 (its) -308.007 (projected) -308.012 (observ) 24.9909 (ation) -308.988 (i) 0.98513 (n) -309.002 (the) -308.017 (global) ] TJ
T*
[ (frame\056) -765.99 (In) -402.009 (Fig\056) ] TJ
ET
Q
1 0 0 rg
q
10 0 0 10 0 0 cm
BT
/R37 9.9626 Tf
1 0 0 1 374.306 339.692 Tm
(2) Tj
ET
Q
0 g
q
10 0 0 10 0 0 cm
BT
/R37 9.9626 Tf
1 0 0 1 383.293 339.692 Tm
[ (we) -402.014 (report) -402.006 (the) -402.982 (precision) -401.987 (with) -401.987 (which) -401.997 (we) ] TJ
-74.4305 -11.9551 Td
[ (were) -323.995 (able) -323.983 (to) -324.012 (obtain) -324 (the) -324.017 (camera) -323.995 (poses\056) -532.009 (W) 79.9866 (e) -325.009 (can) -323.99 (see) -323.99 (that) -324.01 (all) ] TJ
11.9551 TL
T*
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T*
[ (applications) -337 (\050) ] TJ
/R47 9.9626 Tf
54.8207 0 Td
[ (e) 15.0122 (\056g) ] TJ
/R37 9.9626 Tf
11.7461 0 Td
[ (\056\054) -358.014 (within) -337.007 (RANSA) 39.9884 (C\051\056) -336.988 (In) -337.003 (order) -337.003 (to) -336.013 (asses) -336.993 (the) ] TJ
-66.5668 -11.9559 Td
[ (computational) -227.986 (cost) -227.986 (for) -226.984 (our) -227.996 (solv) 15.0024 (ers\054) -232 (we) -228.001 (also) -227.986 (recorded) -228.006 (the) -227.991 (e) 15.0122 (x\055) ] TJ
T*
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/R47 9.9626 Tf
206.395 0 Td
(c\056f) Tj
/R37 9.9626 Tf
11.1379 0 Td
[ (\056) -321 (T) 79.9916 (a\055) ] TJ
-217.533 -11.9551 Td
(ble) Tj
ET
Q
1 0 0 rg
q
10 0 0 10 0 0 cm
BT
/R37 9.9626 Tf
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(2) Tj
ET
Q
0 g
q
10 0 0 10 0 0 cm
BT
/R37 9.9626 Tf
1 0 0 1 329.156 267.961 Tm
[ (\051\056) -505.994 (F) 14.9926 (or) -315.984 (comparison\054) -331.006 (a) -315.991 (typical) -314.982 (P3P) -315.011 (implementation) -315.996 (has) ] TJ
-20.2937 -11.9547 Td
[ (runtimes) -250.002 (of) -249.995 (about) ] TJ
/R90 9.9626 Tf
72.7758 0 Td
(2) Tj
/R54 9.9626 Tf
4.98203 0 Td
[ <16> -0.60039 ] TJ
/R37 9.9626 Tf
6.00312 0 Td
(s\056) Tj
ET
Q
4.91602 w
0 G
3265.76 2431.8 m
5252.44 2431.8 l
S
3265.76 2331.38 m
3265.76 2429.32 l
S
q
10 0 0 10 0 0 cm
BT
/R37 8.6139 Tf
1 0 0 1 336.961 231.169 Tm
[ (Solv) 14.9933 (er) ] TJ
ET
Q
3697.09 2331.38 m
3697.09 2429.32 l
S
q
10 0 0 10 0 0 cm
BT
/R37 8.6139 Tf
1 0 0 1 400.803 236.076 Tm
[ (T) 34.9862 (ime) ] TJ
ET
Q
4497.82 2331.38 m
4497.82 2429.32 l
S
q
10 0 0 10 0 0 cm
BT
/R37 8.6139 Tf
1 0 0 1 463.325 236.076 Tm
[ (Num\056) -310 (of) -250.005 (Sols\056) ] TJ
ET
Q
5252.44 2331.38 m
5252.44 2429.32 l
S
3697.09 2328.92 m
5252.44 2328.92 l
S
3265.76 2233.43 m
3265.76 2331.38 l
S
3697.09 2233.43 m
3697.09 2331.38 l
S
q
10 0 0 10 0 0 cm
BT
/R37 8.6139 Tf
1 0 0 1 379.397 226.281 Tm
[ (Mean) -1982.02 (Median) ] TJ
ET
Q
4497.82 2233.43 m
4497.82 2331.38 l
S
q
10 0 0 10 0 0 cm
BT
/R37 8.6139 Tf
1 0 0 1 457.164 226.281 Tm
[ (Mean) -1714 (Median) ] TJ
ET
Q
5252.44 2233.43 m
5252.44 2331.38 l
S
3265.76 2230.97 m
5252.44 2230.97 l
S
3265.76 2130.55 m
3265.76 2228.5 l
S
q
10 0 0 10 0 0 cm
BT
/R35 8.6139 Tf
1 0 0 1 342.937 215.993 Tm
[ (Implementations) -249.982 (in) -250.005 (MA) 94.9989 (TLAB) -249.982 (\050times) -250.022 (in) -250.005 (\133ms\135\051) ] TJ
ET
Q
5252.44 2130.55 m
5252.44 2228.5 l
S
3265.76 2128.09 m
5252.44 2128.09 l
S
3265.76 2027.68 m
3265.76 2125.63 l
S
q
10 0 0 10 0 0 cm
BT
/R35 8.6139 Tf
1 0 0 1 338.089 205.707 Tm
(uH21) Tj
ET
Q
3697.09 2027.68 m
3697.09 2125.63 l
S
q
10 0 0 10 0 0 cm
BT
/R109 8.6139 Tf
1 0 0 1 382.837 205.707 Tm
[ (3) -0.49883 ] TJ
/R103 8.6139 Tf
4.90508 0 Td
[ (\072) -0.30043 ] TJ
/R109 8.6139 Tf
2.92227 0 Td
[ (2) -3170.5 (2) -0.49883 ] TJ
/R103 8.6139 Tf
37.1148 0 Td
[ (\072) -0.30043 ] TJ
/R109 8.6139 Tf
2.92227 0 Td
[ (6) -0.49883 ] TJ
ET
Q
4497.82 2027.68 m
4497.82 2125.63 l
S
q
10 0 0 10 0 0 cm
BT
/R109 8.6139 Tf
1 0 0 1 460.605 205.707 Tm
[ (3) -0.49883 ] TJ
/R103 8.6139 Tf
4.90469 0 Td
[ (\072) -0.30043 ] TJ
/R109 8.6139 Tf
2.92266 0 Td
[ (2) -3356.48 (4) -0.49883 ] TJ
ET
Q
5252.44 2027.68 m
5252.44 2125.63 l
S
3265.76 1929.72 m
3265.76 2027.67 l
S
q
10 0 0 10 0 0 cm
BT
/R35 8.6139 Tf
1 0 0 1 336.354 195.912 Tm
(H13\053s) Tj
ET
Q
3697.09 1929.72 m
3697.09 2027.67 l
S
q
10 0 0 10 0 0 cm
BT
/R109 8.6139 Tf
1 0 0 1 380.384 195.912 Tm
[ (1) -0.49883 (9) -0.49883 ] TJ
/R103 8.6139 Tf
9.81133 0 Td
[ (\072) -0.30043 ] TJ
/R109 8.6139 Tf
2.92227 0 Td
[ (1) -2600.48 (1) -0.49883 (7) -0.49883 ] TJ
/R103 8.6139 Tf
37.1137 0 Td
[ (\072) -0.30043 ] TJ
/R109 8.6139 Tf
2.92227 0 Td
[ (5) -0.49883 ] TJ
ET
Q
4497.82 1929.72 m
4497.82 2027.67 l
S
q
10 0 0 10 0 0 cm
BT
/R109 8.6139 Tf
1 0 0 1 460.605 195.912 Tm
[ (6) -0.49883 ] TJ
/R103 8.6139 Tf
4.90469 0 Td
[ (\072) -0.30043 ] TJ
/R109 8.6139 Tf
2.92266 0 Td
[ (2) -3356.48 (6) -0.49883 ] TJ
ET
Q
5252.44 1929.72 m
5252.44 2027.67 l
S
3265.76 1831.77 m
3265.76 1929.72 l
S
q
10 0 0 10 0 0 cm
BT
/R35 8.6139 Tf
1 0 0 1 336.354 186.115 Tm
(H32\053s) Tj
ET
Q
3697.09 1831.77 m
3697.09 1929.72 l
S
q
10 0 0 10 0 0 cm
BT
/R109 8.6139 Tf
1 0 0 1 377.091 186.115 Tm
[ (2) -0.49883 ] TJ
/R103 8.6139 Tf
4.90625 0 Td
[ (\073) -0.30043 ] TJ
/R109 8.6139 Tf
4.60234 0 Td
[ (6) -0.49883 (9) -0.49883 (3) -1836.51 (2) -0.49883 ] TJ
/R103 8.6139 Tf
35.4336 0 Td
[ (\073) -0.30043 ] TJ
/R109 8.6139 Tf
4.60352 0 Td
[ (6) -0.49883 (1) -0.49883 (7) -0.49883 ] TJ
ET
Q
4497.82 1831.77 m
4497.82 1929.72 l
S
q
10 0 0 10 0 0 cm
BT
/R109 8.6139 Tf
1 0 0 1 458.152 186.115 Tm
[ (2) -0.49883 (0) -0.49883 ] TJ
/R103 8.6139 Tf
9.80977 0 Td
[ (\072) -0.30043 ] TJ
/R109 8.6139 Tf
2.92383 0 Td
[ (9) -2787.49 (2) -0.49883 (2) -0.49883 ] TJ
ET
Q
5252.44 1831.77 m
5252.44 1929.72 l
S
3265.76 1829.31 m
5252.44 1829.31 l
S
3265.76 1728.9 m
3265.76 1826.85 l
S
q
10 0 0 10 0 0 cm
BT
/R35 8.6139 Tf
1 0 0 1 353.561 175.829 Tm
[ (Implementations) -249.982 (in) -250.005 (C\053\053) -250.005 (\050times) -250.022 (in) -250.005 (\133) ] TJ
/R218 8.6139 Tf
128.734 0 Td
[ <16> -0.20407 ] TJ
/R35 8.6139 Tf
6.875 0 Td
(s\135\051) Tj
ET
Q
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5252.44 1826.85 l
S
3265.76 1726.43 m
5252.44 1726.43 l
S
3265.76 1626.02 m
3265.76 1723.98 l
S
q
10 0 0 10 0 0 cm
BT
/R35 8.6139 Tf
1 0 0 1 334.201 165.541 Tm
(uP3P\053s) Tj
ET
Q
3697.09 1626.02 m
3697.09 1723.98 l
S
q
10 0 0 10 0 0 cm
BT
/R109 8.6139 Tf
1 0 0 1 382.837 165.541 Tm
[ (3) -0.49883 ] TJ
/R103 8.6139 Tf
4.90508 0 Td
[ (\072) -0.30043 ] TJ
/R109 8.6139 Tf
2.92227 0 Td
[ (2) -3170.5 (3) -0.49883 ] TJ
/R103 8.6139 Tf
37.1148 0 Td
[ (\072) -0.30043 ] TJ
/R109 8.6139 Tf
2.92227 0 Td
[ (1) -0.49883 ] TJ
ET
Q
4497.82 1626.02 m
4497.82 1723.98 l
S
q
10 0 0 10 0 0 cm
BT
/R109 8.6139 Tf
1 0 0 1 464.518 165.541 Tm
[ (1) -3811.5 (1) -0.49883 ] TJ
ET
Q
5252.44 1626.02 m
5252.44 1723.98 l
S
3265.76 1528.07 m
3265.76 1626.02 l
S
q
10 0 0 10 0 0 cm
BT
/R35 8.6139 Tf
1 0 0 1 340.484 155.746 Tm
(H22) Tj
ET
Q
3697.09 1528.07 m
3697.09 1626.02 l
S
q
10 0 0 10 0 0 cm
BT
/R109 8.6139 Tf
1 0 0 1 380.384 155.746 Tm
[ (7) -0.49883 ] TJ
/R103 8.6139 Tf
4.90625 0 Td
[ (\072) -0.30043 ] TJ
/R109 8.6139 Tf
2.92266 0 Td
[ (2) -0.49883 (5) -2885.52 (7) -0.49883 ] TJ
/R103 8.6139 Tf
39.5664 0 Td
[ (\072) -0.30043 ] TJ
/R109 8.6139 Tf
2.92227 0 Td
[ (2) -0.49883 ] TJ
ET
Q
4497.82 1528.07 m
4497.82 1626.02 l
S
q
10 0 0 10 0 0 cm
BT
/R109 8.6139 Tf
1 0 0 1 460.605 155.746 Tm
[ (6) -0.49883 ] TJ
/R103 8.6139 Tf
4.90469 0 Td
[ (\072) -0.30043 ] TJ
/R109 8.6139 Tf
2.92266 0 Td
[ (8) -3356.48 (6) -0.49883 ] TJ
ET
Q
5252.44 1528.07 m
5252.44 1626.02 l
S
3265.76 1430.11 m
3265.76 1528.06 l
S
q
10 0 0 10 0 0 cm
BT
/R35 8.6139 Tf
1 0 0 1 333.96 145.951 Tm
(uH12\053s) Tj
ET
Q
3697.09 1430.11 m
3697.09 1528.06 l
S
q
10 0 0 10 0 0 cm
BT
/R109 8.6139 Tf
1 0 0 1 382.837 145.951 Tm
[ (9) -0.49883 ] TJ
/R103 8.6139 Tf
4.90508 0 Td
[ (\072) -0.30043 ] TJ
/R109 8.6139 Tf
2.92227 0 Td
[ (5) -3170.5 (9) -0.49883 ] TJ
/R103 8.6139 Tf
37.1148 0 Td
[ (\072) -0.30043 ] TJ
/R109 8.6139 Tf
2.92227 0 Td
[ (2) -0.49883 ] TJ
ET
Q
4497.82 1430.11 m
4497.82 1528.06 l
S
q
10 0 0 10 0 0 cm
BT
/R109 8.6139 Tf
1 0 0 1 460.605 145.951 Tm
[ (3) -0.49883 ] TJ
/R103 8.6139 Tf
4.90469 0 Td
[ (\072) -0.30043 ] TJ
/R109 8.6139 Tf
2.92266 0 Td
[ (3) -3356.48 (4) -0.49883 ] TJ
ET
Q
5252.44 1430.11 m
5252.44 1528.06 l
S
3265.76 1332.16 m
3265.76 1430.11 l
S
q
10 0 0 10 0 0 cm
BT
/R35 8.6139 Tf
1 0 0 1 333.96 136.155 Tm
(uH31\053s) Tj
ET
Q
3697.09 1332.16 m
3697.09 1430.11 l
S
q
10 0 0 10 0 0 cm
BT
/R109 8.6139 Tf
1 0 0 1 380.384 136.155 Tm
[ (3) -0.49883 (2) -0.49883 ] TJ
/R103 8.6139 Tf
9.81133 0 Td
[ (\072) -0.30043 ] TJ
/R109 8.6139 Tf
2.92227 0 Td
[ (6) -2600.48 (3) -0.49883 (2) -0.49883 ] TJ
/R103 8.6139 Tf
37.1137 0 Td
[ (\072) -0.30043 ] TJ
/R109 8.6139 Tf
2.92227 0 Td
[ (1) -0.49883 ] TJ
ET
Q
4497.82 1332.16 m
4497.82 1430.11 l
S
q
10 0 0 10 0 0 cm
BT
/R109 8.6139 Tf
1 0 0 1 460.605 136.155 Tm
[ (4) -0.49883 ] TJ
/R103 8.6139 Tf
4.90469 0 Td
[ (\072) -0.30043 ] TJ
/R109 8.6139 Tf
2.92266 0 Td
[ (5) -3356.48 (4) -0.49883 ] TJ
ET
Q
5252.44 1332.16 m
5252.44 1430.11 l
S
3265.76 1234.21 m
3265.76 1332.16 l
S
q
10 0 0 10 0 0 cm
BT
/R35 8.6139 Tf
1 0 0 1 340.484 126.36 Tm
(H41) Tj
ET
Q
3697.09 1234.21 m
3697.09 1332.16 l
S
q
10 0 0 10 0 0 cm
BT
/R109 8.6139 Tf
1 0 0 1 381.845 126.36 Tm
[ (7) -0.49883 (5) -0.49883 (6) -2939.51 (7) -0.49883 (2) -0.49883 (8) -0.49883 ] TJ
ET
Q
4497.82 1234.21 m
4497.82 1332.16 l
S
q
10 0 0 10 0 0 cm
BT
/R109 8.6139 Tf
1 0 0 1 458.152 126.36 Tm
[ (1) -0.49883 (2) -0.49883 ] TJ
/R103 8.6139 Tf
9.80977 0 Td
[ (\072) -0.30043 ] TJ
/R109 8.6139 Tf
2.92383 0 Td
[ (7) -2787.49 (1) -0.49883 (2) -0.49883 ] TJ
ET
Q
5252.44 1234.21 m
5252.44 1332.16 l
S
3265.76 1231.75 m
5252.44 1231.75 l
S
q
10 0 0 10 0 0 cm
BT
/R37 8.9664 Tf
1 0 0 1 308.862 115.818 Tm
[ (T) 79.9807 (able) -253.014 (2\056) -253.006 (Ex) 14.9811 (ecution) -253.006 (times) -252.012 (and) -253.006 (number) -253.012 (of) -253 (solutions) -252.995 (for) -253.012 (the) -251.993 (minimal) ] TJ
10.959 TL
T*
[ (solv) 15 (ers) -209.011 (presented) -208.997 (in) -209.019 (this) -209.005 (paper) 55.0122 (\056) -296.005 (C\053\053) -209.011 (w) 10.0092 (as) -209 (used) -209 (only) -209.021 (for) -209.011 (the) -208.994 (minimal) ] TJ
T*
[ (problems) -389.007 (needed) -388.007 (for) -388.979 (the) -389.007 (real\055w) 9.99826 (orld) -388 (e) 15.0137 (xperiments\056) ] TJ
/R35 8.9664 Tf
187.3 0 Td
(H51\053s) Tj
/R37 8.9664 Tf
28.0258 0 Td
[ (is) -388.985 (not) ] TJ
-215.326 -10.959 Td
[ (included) -250 (since) -250.003 (no) -249.978 (practical) -249.997 (implementation) -250.017 (w) 10.0092 (as) -249.995 (obtained\056) ] TJ
ET
Q
Q
Q
q
1 0 0 1 0 0 cm
BT
/F1 12 Tf
14.4 TL
ET
1 1 1 rg
n
270 47 72 14 re
f*
0.5 0.5 0.5 rg
BT
/F2 9 Tf
10.8 TL
ET
BT
1 0 0 1 299.25 50 Tm
(141) Tj
T*
ET
Q

endstream
endobj
262 0 obj
<<
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h
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h
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h
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h
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h
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h
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h
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h
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h
f
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h
f
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h
f
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h
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h
f
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h
f
665.18 6759.96 m
665.18 7176.05 l
S
665.18 6759.96 m
672.824 6759.96 l
S
665.18 6968.01 m
672.824 6968.01 l
S
665.18 7176.05 m
672.824 7176.05 l
S
632.992 6745.6 m
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h
632.992 6747.07 m
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h
f
590.445 6953.64 m
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h
590.445 6955.11 m
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h
f
608.543 6957.95 m
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h
f
623.93 6961.2 m
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h
f
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h
f
543.152 6870.05 m
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h
539.027 6881.9 m
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h
f
543.84 6929.27 m
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h
527.402 6921.08 m
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h
f
543.152 6942.52 m
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h
f
543.336 6976.17 m
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h
f
543.152 6999.72 m
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h
505.379 7002.33 m
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h
f
535.777 7020.83 m
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h
f
553.27 7040.55 m
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h
f
7.8139 w
0 J
0 0.44702 0.74023 RG
665.09 6760.09 m
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1305.48 6759.96 l
S
0.85156 0.32544 0.09814 RG
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h
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h
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1786.95 6621.13 1784.55 6621.45 1781.74 6621.45 c
1776.71 6621.45 l
1775.76 6621.45 1774.89 6621.22 1774.1 6620.77 c
1773.3 6620.31 1772.68 6619.67 1772.21 6618.86 c
1771.73 6618.05 1771.49 6617.21 1771.49 6616.33 c
h
1780 6631.84 m
1783.48 6631.84 1785.22 6634.32 1785.22 6639.27 c
1785.22 6641.43 1784.86 6643.2 1784.11 6644.59 c
1783.36 6645.98 1781.99 6646.68 1780 6646.68 c
1777.99 6646.68 1776.62 6645.98 1775.87 6644.59 c
1775.12 6643.2 1774.74 6641.43 1774.74 6639.27 c
1774.74 6637.92 1774.89 6636.7 1775.18 6635.6 c
1775.47 6634.5 1775.99 6633.6 1776.75 6632.9 c
1777.52 6632.2 1778.6 6631.84 1780 6631.84 c
h
f
1802.13 6621.13 m
1802.13 6623.29 l
1807.26 6623.29 1809.82 6623.94 1809.82 6625.25 c
1809.82 6657.53 l
1807.69 6656.52 1805 6656.02 1801.77 6656.02 c
1801.77 6658.17 l
1806.8 6658.17 1810.6 6659.48 1813.17 6662.11 c
1814.04 6662.11 l
1814.16 6662.11 1814.28 6662.05 1814.42 6661.94 c
1814.56 6661.84 1814.63 6661.71 1814.63 6661.56 c
1814.63 6625.25 l
1814.63 6623.94 1817.2 6623.29 1822.32 6623.29 c
1822.32 6621.13 l
h
f
1841.88 6619.76 m
1836.84 6619.76 1833.42 6621.84 1831.62 6625.98 c
1829.82 6630.14 1828.91 6635.07 1828.91 6640.77 c
1828.91 6644.32 1829.23 6647.66 1829.88 6650.8 c
1830.52 6653.94 1831.8 6656.61 1833.74 6658.82 c
1835.68 6661.01 1838.39 6662.11 1841.88 6662.11 c
1844.59 6662.11 1846.8 6661.45 1848.51 6660.14 c
1850.22 6658.83 1851.53 6657.12 1852.45 6655.01 c
1853.36 6652.91 1853.97 6650.66 1854.29 6648.28 c
1854.62 6645.9 1854.78 6643.4 1854.78 6640.77 c
1854.78 6637.23 1854.46 6633.92 1853.82 6630.85 c
1853.18 6627.79 1851.9 6625.18 1849.99 6623.01 c
1848.09 6620.84 1845.38 6619.76 1841.88 6619.76 c
h
1841.88 6621.36 m
1844.16 6621.36 1845.86 6622.54 1846.97 6624.89 c
1848.09 6627.24 1848.77 6629.83 1849.03 6632.67 c
1849.29 6635.51 1849.43 6638.53 1849.43 6641.73 c
1849.43 6644.82 1849.29 6647.66 1849.03 6650.27 c
1848.77 6652.88 1848.09 6655.24 1846.97 6657.35 c
1845.86 6659.46 1844.16 6660.51 1841.88 6660.51 c
1839.55 6660.51 1837.83 6659.44 1836.7 6657.32 c
1835.57 6655.2 1834.87 6652.84 1834.61 6650.25 c
1834.35 6647.66 1834.23 6644.82 1834.23 6641.73 c
1834.23 6639.45 1834.29 6637.3 1834.41 6635.28 c
1834.54 6633.26 1834.82 6631.17 1835.3 6629.02 c
1835.77 6626.87 1836.55 6625.05 1837.62 6623.57 c
1838.68 6622.09 1840.11 6621.36 1841.88 6621.36 c
h
f
1892.01 6620.45 m
1889.54 6620.45 1887.25 6621.07 1885.14 6622.32 c
1883.04 6623.57 1881.37 6625.25 1880.15 6627.36 c
1878.93 6629.46 1878.32 6631.75 1878.32 6634.23 c
1878.32 6636.12 1878.65 6637.94 1879.32 6639.68 c
1880 6641.41 1880.96 6642.97 1882.21 6644.34 c
1883.46 6645.72 1884.93 6646.79 1886.59 6647.55 c
1888.25 6648.31 1890.05 6648.7 1892.01 6648.7 c
1894.54 6648.7 1896.84 6648.02 1898.92 6646.7 c
1901 6645.37 1902.63 6643.6 1903.82 6641.37 c
1905.01 6639.14 1905.61 6636.76 1905.61 6634.23 c
1905.61 6631.75 1905 6629.46 1903.77 6627.36 c
1902.55 6625.25 1900.9 6623.57 1898.81 6622.32 c
1896.72 6621.07 1894.45 6620.45 1892.01 6620.45 c
h
1892.01 6622.23 m
1895.3 6622.23 1897.5 6623.42 1898.6 6625.8 c
1899.7 6628.18 1900.25 6631.22 1900.25 6634.91 c
1900.25 6636.99 1900.14 6638.7 1899.91 6640.04 c
1899.68 6641.39 1899.2 6642.62 1898.46 6643.75 c
1898 6644.42 1897.43 6645 1896.71 6645.5 c
1895.99 6646.01 1895.24 6646.41 1894.46 6646.68 c
1893.69 6646.95 1892.86 6647.09 1892.01 6647.09 c
1890.73 6647.09 1889.52 6646.8 1888.38 6646.22 c
1887.23 6645.64 1886.27 6644.82 1885.51 6643.75 c
1884.74 6642.56 1884.25 6641.26 1884.04 6639.88 c
1883.83 6638.48 1883.72 6636.84 1883.72 6634.91 c
1883.72 6632.62 1883.92 6630.56 1884.32 6628.73 c
1884.71 6626.9 1885.52 6625.36 1886.74 6624.11 c
1887.96 6622.86 1889.72 6622.23 1892.01 6622.23 c
h
f
1908.67 6621.13 m
1908.67 6623.29 l
1910.08 6623.29 1911.24 6623.39 1912.14 6623.62 c
1913.04 6623.85 1913.48 6624.4 1913.48 6625.25 c
1913.48 6645.49 l
1908.77 6645.49 l
1908.77 6647.64 l
1913.48 6647.64 l
1913.48 6655.01 l
1913.48 6656.36 1913.75 6657.59 1914.3 6658.74 c
1914.85 6659.88 1915.6 6660.89 1916.53 6661.75 c
1917.46 6662.6 1918.53 6663.27 1919.73 6663.77 c
1920.94 6664.28 1922.19 6664.54 1923.5 6664.54 c
1924.88 6664.54 1926.13 6664.13 1927.24 6663.3 c
1928.36 6662.48 1928.91 6661.38 1928.91 6660 c
1928.91 6659.24 1928.65 6658.59 1928.12 6658.05 c
1927.58 6657.52 1926.92 6657.25 1926.16 6657.25 c
1925.37 6657.25 1924.7 6657.52 1924.14 6658.05 c
1923.6 6658.59 1923.32 6659.24 1923.32 6660 c
1923.32 6661.29 1923.87 6662.16 1924.97 6662.61 c
1924.3 6662.83 1923.7 6662.93 1923.18 6662.93 c
1922 6662.93 1920.97 6662.51 1920.12 6661.65 c
1919.26 6660.8 1918.64 6659.76 1918.23 6658.54 c
1917.81 6657.32 1917.6 6656.11 1917.6 6654.92 c
1917.6 6647.64 l
1924.65 6647.64 l
1924.65 6645.49 l
1917.78 6645.49 l
1917.78 6625.25 l
1917.78 6624.4 1918.39 6623.85 1919.6 6623.62 c
1920.8 6623.39 1922.18 6623.29 1923.73 6623.29 c
1923.73 6621.13 l
h
f
1955.54 6621.13 m
1955.54 6623.29 l
1957.62 6623.29 1959.63 6623.39 1961.57 6623.62 c
1963.51 6623.85 1964.47 6624.4 1964.47 6625.25 c
1964.47 6659.04 l
1964.47 6659.93 1964.22 6660.48 1963.73 6660.69 c
1963.25 6660.91 1962.45 6661.01 1961.36 6661.01 c
1958.75 6661.01 l
1955.36 6661.01 1952.96 6660.27 1951.56 6658.77 c
1950.82 6658.03 1950.3 6656.84 1949.98 6655.21 c
1949.66 6653.58 1949.37 6651.53 1949.13 6649.06 c
1947.39 6649.06 l
1948.54 6663.16 l
1986.13 6663.16 l
1987.31 6649.06 l
1985.48 6649.06 l
1985.24 6651.71 1984.98 6653.82 1984.69 6655.38 c
1984.4 6656.93 1983.88 6658.06 1983.15 6658.77 c
1981.68 6660.27 1979.27 6661.01 1975.91 6661.01 c
1973.35 6661.01 l
1972.59 6661.01 1972 6660.98 1971.59 6660.92 c
1971.18 6660.86 1970.85 6660.68 1970.59 6660.39 c
1970.33 6660.1 1970.19 6659.65 1970.19 6659.04 c
1970.19 6625.25 l
1970.19 6624.4 1971.17 6623.85 1973.12 6623.62 c
1975.07 6623.39 1977.07 6623.29 1979.12 6623.29 c
1979.12 6621.13 l
h
f
1985.19 6621.13 m
1985.19 6623.29 l
1986.6 6623.29 1987.74 6623.39 1988.64 6623.62 c
1989.54 6623.85 1990 6624.4 1990 6625.25 c
1990 6642.05 l
1990 6643.16 1989.83 6643.95 1989.5 6644.44 c
1989.16 6644.93 1988.67 6645.21 1988.05 6645.32 c
1987.42 6645.43 1986.48 6645.49 1985.19 6645.49 c
1985.19 6647.64 l
1993.98 6648.33 l
1993.98 6642.33 l
1994.65 6644.1 1995.6 6645.54 1996.82 6646.65 c
1998.04 6647.76 1999.52 6648.33 2001.27 6648.33 c
2002.48 6648.33 2003.57 6647.96 2004.53 6647.25 c
2005.49 6646.53 2005.98 6645.58 2005.98 6644.39 c
2005.98 6643.66 2005.7 6643.02 2005.17 6642.47 c
2004.64 6641.92 2004 6641.64 2003.23 6641.64 c
2002.47 6641.64 2001.81 6641.9 2001.27 6642.44 c
2000.71 6642.97 2000.44 6643.63 2000.44 6644.39 c
2000.44 6645.49 2000.84 6646.27 2001.63 6646.73 c
2001.27 6646.73 l
1999.59 6646.73 1998.22 6646.12 1997.19 6644.91 c
1996.15 6643.7 1995.4 6642.22 1994.96 6640.45 c
1994.52 6638.68 1994.3 6636.98 1994.3 6635.33 c
1994.3 6625.25 l
1994.3 6623.94 1996.29 6623.29 2000.26 6623.29 c
2000.26 6621.13 l
h
f
2009.63 6627.18 m
2009.63 6629.62 2010.59 6631.6 2012.51 6633.13 c
2014.43 6634.65 2016.74 6635.74 2019.42 6636.38 c
2022.11 6637.02 2024.68 6637.34 2027.12 6637.34 c
2027.12 6639.86 l
2027.12 6641.05 2026.86 6642.2 2026.34 6643.29 c
2025.82 6644.39 2025.06 6645.29 2024.07 6646.01 c
2023.07 6646.73 2022 6647.09 2020.84 6647.09 c
2018.09 6647.09 2016.02 6646.48 2014.62 6645.26 c
2015.38 6645.26 2016.02 6644.96 2016.54 6644.36 c
2017.06 6643.77 2017.32 6643.09 2017.32 6642.33 c
2017.32 6641.51 2017.03 6640.8 2016.45 6640.23 c
2015.87 6639.64 2015.18 6639.36 2014.39 6639.36 c
2013.56 6639.36 2012.86 6639.64 2012.28 6640.23 c
2011.7 6640.8 2011.41 6641.51 2011.41 6642.33 c
2011.41 6644.5 2012.39 6646.1 2014.34 6647.14 c
2016.29 6648.18 2018.46 6648.7 2020.84 6648.7 c
2022.49 6648.7 2024.16 6648.34 2025.84 6647.64 c
2027.51 6646.94 2028.89 6645.92 2029.97 6644.59 c
2031.05 6643.26 2031.6 6641.72 2031.6 6639.95 c
2031.6 6626.12 l
2031.6 6625.33 2031.77 6624.6 2032.11 6623.93 c
2032.44 6623.25 2032.96 6622.92 2033.66 6622.92 c
2034.36 6622.92 2034.87 6623.25 2035.19 6623.93 c
2035.51 6624.6 2035.68 6625.33 2035.68 6626.12 c
2035.68 6630.06 l
2037.51 6630.06 l
2037.51 6626.12 l
2037.51 6625.21 2037.27 6624.32 2036.78 6623.48 c
2036.29 6622.64 2035.63 6621.99 2034.82 6621.5 c
2034.01 6621.01 2033.14 6620.77 2032.2 6620.77 c
2031.01 6620.77 2029.97 6621.22 2029.1 6622.16 c
2028.23 6623.09 2027.76 6624.2 2027.66 6625.48 c
2026.9 6623.96 2025.77 6622.73 2024.29 6621.82 c
2022.81 6620.9 2021.22 6620.45 2019.52 6620.45 c
2017.96 6620.45 2016.42 6620.68 2014.91 6621.13 c
2013.39 6621.59 2012.14 6622.31 2011.14 6623.3 c
2010.13 6624.29 2009.63 6625.59 2009.63 6627.18 c
h
2014.62 6627.18 m
2014.62 6625.74 2015.13 6624.52 2016.19 6623.53 c
2017.24 6622.54 2018.51 6622.05 2019.97 6622.05 c
2021.29 6622.05 2022.48 6622.38 2023.56 6623.05 c
2024.64 6623.73 2025.52 6624.63 2026.16 6625.76 c
2026.8 6626.89 2027.12 6628.09 2027.12 6629.37 c
2027.12 6635.79 l
2025.25 6635.79 2023.35 6635.48 2021.39 6634.87 c
2019.44 6634.25 2017.82 6633.29 2016.54 6631.98 c
2015.26 6630.67 2014.62 6629.07 2014.62 6627.18 c
h
f
2039.06 6621.13 m
2039.06 6623.29 l
2040.47 6623.29 2041.63 6623.39 2042.53 6623.62 c
2043.43 6623.85 2043.87 6624.4 2043.87 6625.25 c
2043.87 6642.05 l
2043.87 6643.16 2043.7 6643.95 2043.37 6644.44 c
2043.03 6644.93 2042.56 6645.21 2041.95 6645.32 c
2041.34 6645.43 2040.38 6645.49 2039.06 6645.49 c
2039.06 6647.64 l
2048 6648.33 l
2048 6642.33 l
2048.82 6644.07 2050.04 6645.5 2051.66 6646.63 c
2053.27 6647.76 2055.03 6648.33 2056.92 6648.33 c
2059.76 6648.33 2061.89 6647.64 2063.33 6646.29 c
2064.77 6644.93 2065.48 6642.85 2065.48 6640.04 c
2065.48 6625.25 l
2065.48 6624.4 2065.94 6623.85 2066.84 6623.62 c
2067.74 6623.39 2068.89 6623.29 2070.29 6623.29 c
2070.29 6621.13 l
2056.19 6621.13 l
2056.19 6623.29 l
2057.59 6623.29 2058.75 6623.39 2059.65 6623.62 c
2060.55 6623.85 2061 6624.4 2061 6625.25 c
2061 6639.86 l
2061 6641.84 2060.71 6643.48 2060.13 6644.77 c
2059.55 6646.07 2058.36 6646.73 2056.55 6646.73 c
2054.18 6646.73 2052.22 6645.77 2050.68 6643.86 c
2049.14 6641.95 2048.36 6639.8 2048.36 6637.39 c
2048.36 6625.25 l
2048.36 6624.4 2048.82 6623.85 2049.73 6623.62 c
2050.65 6623.39 2051.79 6623.29 2053.17 6623.29 c
2053.17 6621.13 l
h
f
2072.72 6620.95 m
2072.72 6630.98 l
2072.72 6631.31 2072.89 6631.48 2073.22 6631.48 c
2074 6631.48 l
2074.24 6631.48 2074.39 6631.31 2074.46 6630.98 c
2075.62 6625.02 2078.38 6622.05 2082.74 6622.05 c
2084.7 6622.05 2086.33 6622.49 2087.64 6623.38 c
2088.95 6624.26 2089.61 6625.62 2089.61 6627.45 c
2089.61 6628.79 2089.11 6629.92 2088.08 6630.85 c
2087.06 6631.79 2085.84 6632.43 2084.44 6632.76 c
2080.32 6633.59 l
2078.94 6633.89 2077.69 6634.35 2076.56 6634.96 c
2075.43 6635.57 2074.52 6636.39 2073.8 6637.43 c
2073.08 6638.47 2072.72 6639.66 2072.72 6641 c
2072.72 6642.84 2073.19 6644.32 2074.14 6645.46 c
2075.08 6646.61 2076.32 6647.43 2077.84 6647.93 c
2079.37 6648.43 2081 6648.7 2082.74 6648.7 c
2084.85 6648.7 2086.7 6648.14 2088.28 6647.05 c
2090.02 6648.56 l
2090.02 6648.65 2090.13 6648.7 2090.34 6648.7 c
2090.8 6648.7 l
2090.92 6648.7 2091.03 6648.63 2091.12 6648.53 c
2091.21 6648.42 2091.26 6648.31 2091.26 6648.19 c
2091.26 6640.13 l
2091.26 6639.77 2091.11 6639.59 2090.8 6639.59 c
2090.02 6639.59 l
2089.66 6639.59 2089.47 6639.77 2089.47 6640.13 c
2089.47 6642.3 2088.88 6644.02 2087.69 6645.32 c
2086.5 6646.62 2084.83 6647.27 2082.7 6647.27 c
2080.87 6647.27 2079.28 6646.93 2077.92 6646.24 c
2076.56 6645.55 2075.88 6644.39 2075.88 6642.74 c
2075.88 6641.58 2076.36 6640.64 2077.34 6639.92 c
2078.32 6639.2 2079.46 6638.68 2080.77 6638.35 c
2084.94 6637.57 l
2086.34 6637.23 2087.66 6636.68 2088.86 6635.94 c
2090.07 6635.19 2091.03 6634.23 2091.75 6633.05 c
2092.46 6631.88 2092.82 6630.58 2092.82 6629.14 c
2092.82 6627.65 2092.56 6626.35 2092.04 6625.25 c
2091.52 6624.15 2090.8 6623.24 2089.88 6622.52 c
2088.97 6621.8 2087.9 6621.29 2086.66 6620.95 c
2085.43 6620.61 2084.12 6620.45 2082.74 6620.45 c
2080.18 6620.45 2078 6621.3 2076.2 6623.01 c
2073.95 6620.58 l
2073.95 6620.49 2073.83 6620.45 2073.59 6620.45 c
2073.22 6620.45 l
2072.89 6620.45 2072.72 6620.61 2072.72 6620.95 c
h
f
2096.27 6621.13 m
2096.27 6623.29 l
2097.67 6623.29 2098.83 6623.39 2099.73 6623.62 c
2100.63 6623.85 2101.07 6624.4 2101.07 6625.25 c
2101.07 6657.53 l
2101.07 6658.63 2100.92 6659.43 2100.6 6659.93 c
2100.28 6660.43 2099.8 6660.74 2099.18 6660.84 c
2098.55 6660.95 2097.58 6661.01 2096.27 6661.01 c
2096.27 6663.16 l
2105.42 6663.85 l
2105.42 6625.25 l
2105.42 6624.4 2105.88 6623.85 2106.78 6623.62 c
2107.68 6623.39 2108.81 6623.29 2110.18 6623.29 c
2110.18 6621.13 l
h
f
2113.59 6627.18 m
2113.59 6629.62 2114.55 6631.6 2116.47 6633.13 c
2118.39 6634.65 2120.7 6635.74 2123.38 6636.38 c
2126.07 6637.02 2128.63 6637.34 2131.07 6637.34 c
2131.07 6639.86 l
2131.07 6641.05 2130.82 6642.2 2130.3 6643.29 c
2129.78 6644.39 2129.02 6645.29 2128.02 6646.01 c
2127.03 6646.73 2125.96 6647.09 2124.8 6647.09 c
2122.06 6647.09 2119.98 6646.48 2118.58 6645.26 c
2119.34 6645.26 2119.98 6644.96 2120.5 6644.36 c
2121.02 6643.77 2121.28 6643.09 2121.28 6642.33 c
2121.28 6641.51 2120.99 6640.8 2120.41 6640.23 c
2119.83 6639.64 2119.14 6639.36 2118.35 6639.36 c
2117.52 6639.36 2116.82 6639.64 2116.24 6640.23 c
2115.66 6640.8 2115.38 6641.51 2115.38 6642.33 c
2115.38 6644.5 2116.35 6646.1 2118.3 6647.14 c
2120.26 6648.18 2122.42 6648.7 2124.8 6648.7 c
2126.45 6648.7 2128.11 6648.34 2129.79 6647.64 c
2131.47 6646.94 2132.84 6645.92 2133.93 6644.59 c
2135.01 6643.26 2135.56 6641.72 2135.56 6639.95 c
2135.56 6626.12 l
2135.56 6625.33 2135.73 6624.6 2136.07 6623.93 c
2136.4 6623.25 2136.92 6622.92 2137.62 6622.92 c
2138.32 6622.92 2138.83 6623.25 2139.15 6623.93 c
2139.47 6624.6 2139.64 6625.33 2139.64 6626.12 c
2139.64 6630.06 l
2141.47 6630.06 l
2141.47 6626.12 l
2141.47 6625.21 2141.23 6624.32 2140.74 6623.48 c
2140.25 6622.64 2139.59 6621.99 2138.79 6621.5 c
2137.97 6621.01 2137.1 6620.77 2136.16 6620.77 c
2134.96 6620.77 2133.93 6621.22 2133.06 6622.16 c
2132.19 6623.09 2131.71 6624.2 2131.63 6625.48 c
2130.86 6623.96 2129.73 6622.73 2128.25 6621.82 c
2126.77 6620.9 2125.18 6620.45 2123.48 6620.45 c
2121.92 6620.45 2120.38 6620.68 2118.87 6621.13 c
2117.36 6621.59 2116.11 6622.31 2115.1 6623.3 c
2114.09 6624.29 2113.59 6625.59 2113.59 6627.18 c
h
2118.58 6627.18 m
2118.58 6625.74 2119.1 6624.52 2120.15 6623.53 c
2121.2 6622.54 2122.47 6622.05 2123.93 6622.05 c
2125.25 6622.05 2126.44 6622.38 2127.52 6623.05 c
2128.6 6623.73 2129.47 6624.63 2130.11 6625.76 c
2130.75 6626.89 2131.07 6628.09 2131.07 6629.37 c
2131.07 6635.79 l
2129.21 6635.79 2127.3 6635.48 2125.35 6634.87 c
2123.4 6634.25 2121.78 6633.29 2120.5 6631.98 c
2119.22 6630.67 2118.58 6629.07 2118.58 6627.18 c
h
f
2147.47 6628.5 m
2147.47 6645.49 l
2142.39 6645.49 l
2142.39 6647.09 l
2145.07 6647.09 2147.04 6648.34 2148.29 6650.84 c
2149.54 6653.35 2150.17 6656.06 2150.17 6659 c
2151.95 6659 l
2151.95 6647.64 l
2160.65 6647.64 l
2160.65 6645.49 l
2151.95 6645.49 l
2151.95 6628.64 l
2151.95 6626.93 2152.23 6625.44 2152.79 6624.15 c
2153.36 6622.87 2154.39 6622.23 2155.89 6622.23 c
2157.29 6622.23 2158.3 6622.9 2158.93 6624.26 c
2159.55 6625.62 2159.87 6627.08 2159.87 6628.64 c
2159.87 6632.26 l
2161.61 6632.26 l
2161.61 6628.5 l
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h
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h
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h
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h
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h
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h
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h
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h
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h
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h
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h
f
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S
1670.23 6759.96 m
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S
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S
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S
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S
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h
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h
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h
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h
f
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h
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h
f
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1589.91 7060.32 1592.35 7061.32 1595.49 7061.32 c
1597.93 7061.32 1599.94 7060.72 1601.49 7059.53 c
1603.05 7058.34 1604.24 7056.8 1605.07 7054.89 c
1605.89 7052.98 1606.45 7050.95 1606.74 7048.8 c
1607.03 7046.65 1607.17 7044.38 1607.17 7042 c
1607.17 7038.79 1606.88 7035.8 1606.3 7033.02 c
1605.72 7030.24 1604.58 7027.88 1602.85 7025.92 c
1601.13 7023.97 1598.67 7022.99 1595.49 7022.99 c
h
1595.49 7024.46 m
1597.57 7024.46 1599.11 7025.53 1600.12 7027.65 c
1601.13 7029.77 1601.75 7032.1 1602 7034.67 c
1602.24 7037.23 1602.36 7039.96 1602.36 7042.86 c
1602.36 7045.67 1602.24 7048.25 1602 7050.6 c
1601.75 7052.95 1601.13 7055.09 1600.12 7057 c
1599.11 7058.91 1597.57 7059.85 1595.49 7059.85 c
1593.39 7059.85 1591.83 7058.91 1590.82 7057 c
1589.82 7055.09 1589.19 7052.95 1588.95 7050.6 c
1588.7 7048.25 1588.58 7045.67 1588.58 7042.86 c
1588.58 7040.82 1588.64 7038.88 1588.75 7037.05 c
1588.86 7035.22 1589.11 7033.32 1589.54 7031.37 c
1589.97 7029.42 1590.67 7027.79 1591.65 7026.46 c
1592.63 7025.13 1593.91 7024.46 1595.49 7024.46 c
h
f
1613.59 7027.3 m
1613.59 7028.12 1613.91 7028.84 1614.54 7029.45 c
1615.16 7030.06 1615.87 7030.36 1616.66 7030.36 c
1617.18 7030.36 1617.68 7030.23 1618.17 7029.95 c
1618.66 7029.68 1619.04 7029.3 1619.32 7028.81 c
1619.59 7028.32 1619.73 7027.82 1619.73 7027.3 c
1619.73 7026.47 1619.44 7025.75 1618.84 7025.14 c
1618.25 7024.54 1617.52 7024.23 1616.66 7024.23 c
1615.87 7024.23 1615.16 7024.54 1614.54 7025.14 c
1613.91 7025.75 1613.59 7026.47 1613.59 7027.3 c
h
f
1625.68 7033.43 m
1625.68 7035.36 l
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1644.27 7061.32 l
1644.7 7061.32 1644.91 7061.1 1644.91 7060.68 c
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1650.36 7035.36 l
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1644.91 7033.43 l
1644.91 7027.94 l
1644.91 7027.18 1645.44 7026.7 1646.53 7026.5 c
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1650.32 7024.23 l
1634.98 7024.23 l
1634.98 7026.2 l
1636.41 7026.2 1637.66 7026.3 1638.75 7026.5 c
1639.83 7026.7 1640.38 7027.18 1640.38 7027.94 c
1640.38 7033.43 l
h
1627.52 7035.36 m
1640.7 7035.36 l
1640.7 7055.09 l
h
f
1595.49 7161.69 m
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1583.77 7183.89 1584.07 7186.93 1584.64 7189.77 c
1585.22 7192.64 1586.4 7195.05 1588.15 7197.03 c
1589.91 7199.02 1592.35 7200.01 1595.49 7200.01 c
1597.93 7200.01 1599.94 7199.42 1601.49 7198.22 c
1603.05 7197.03 1604.24 7195.49 1605.07 7193.58 c
1605.89 7191.66 1606.45 7189.63 1606.74 7187.5 c
1607.03 7185.34 1607.17 7183.07 1607.17 7180.69 c
1607.17 7177.48 1606.88 7174.49 1606.3 7171.71 c
1605.72 7168.94 1604.58 7166.57 1602.85 7164.62 c
1601.13 7162.66 1598.67 7161.69 1595.49 7161.69 c
h
1595.49 7163.15 m
1597.57 7163.15 1599.11 7164.22 1600.12 7166.33 c
1601.13 7168.46 1601.75 7170.8 1602 7173.36 c
1602.24 7175.93 1602.36 7178.66 1602.36 7181.56 c
1602.36 7184.37 1602.24 7186.95 1602 7189.3 c
1601.75 7191.64 1601.13 7193.78 1600.12 7195.69 c
1599.11 7197.6 1597.57 7198.55 1595.49 7198.55 c
1593.39 7198.55 1591.83 7197.6 1590.82 7195.69 c
1589.82 7193.78 1589.19 7191.64 1588.95 7189.3 c
1588.7 7186.95 1588.58 7184.37 1588.58 7181.56 c
1588.58 7179.52 1588.64 7177.58 1588.75 7175.75 c
1588.86 7173.91 1589.11 7172.02 1589.54 7170.07 c
1589.97 7168.11 1590.67 7166.48 1591.65 7165.15 c
1592.63 7163.82 1593.91 7163.15 1595.49 7163.15 c
h
f
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1615.16 7168.75 1615.87 7169.06 1616.66 7169.06 c
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1618.66 7168.37 1619.04 7167.99 1619.32 7167.5 c
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1619.73 7165.17 1619.44 7164.45 1618.84 7163.84 c
1618.25 7163.23 1617.52 7162.93 1616.66 7162.93 c
1615.87 7162.93 1615.16 7163.23 1614.54 7163.84 c
1613.91 7164.45 1613.59 7165.17 1613.59 7165.99 c
h
f
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1635.75 7161.69 1633.83 7162.3 1632.29 7163.52 c
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1627.85 7170.23 1627.25 7172.28 1626.93 7174.41 c
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1629.32 7192.71 1630.99 7195.16 1633.21 7197.09 c
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1642.39 7200.01 1643.58 7199.77 1644.68 7199.28 c
1645.78 7198.79 1646.64 7198.09 1647.25 7197.16 c
1647.86 7196.22 1648.16 7195.09 1648.16 7193.78 c
1648.16 7193.02 1647.9 7192.38 1647.4 7191.86 c
1646.9 7191.34 1646.27 7191.08 1645.5 7191.08 c
1644.77 7191.08 1644.14 7191.34 1643.63 7191.89 c
1643.11 7192.43 1642.85 7193.05 1642.85 7193.78 c
1642.85 7194.52 1643.11 7195.14 1643.63 7195.66 c
1644.14 7196.18 1644.77 7196.44 1645.5 7196.44 c
1645.78 7196.44 l
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1642.91 7198.24 1642.02 7198.41 1641.11 7198.41 c
1639.98 7198.41 1638.94 7198.16 1638 7197.67 c
1637.05 7197.18 1636.2 7196.53 1635.43 7195.69 c
1634.67 7194.85 1634.03 7193.92 1633.53 7192.91 c
1633.02 7191.91 1632.63 7190.76 1632.34 7189.48 c
1632.05 7188.2 1631.88 7186.99 1631.82 7185.86 c
1631.76 7184.73 1631.73 7183.33 1631.73 7181.65 c
1632.37 7183.15 1633.28 7184.38 1634.47 7185.36 c
1635.66 7186.34 1637.02 7186.82 1638.55 7186.82 c
1640.2 7186.82 1641.69 7186.49 1643.05 7185.82 c
1644.41 7185.14 1645.58 7184.21 1646.56 7183.02 c
1647.54 7181.84 1648.29 7180.48 1648.8 7178.95 c
1649.32 7177.43 1649.58 7175.88 1649.58 7174.32 c
1649.58 7172.16 1649.09 7170.1 1648.12 7168.13 c
1647.14 7166.16 1645.76 7164.59 1644.01 7163.43 c
1642.25 7162.27 1640.27 7161.69 1638.04 7161.69 c
h
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1642.36 7165.11 1643 7165.98 1643.41 7167.04 c
1643.82 7168.11 1644.09 7169.2 1644.18 7170.3 c
1644.27 7171.39 1644.31 7172.74 1644.31 7174.32 c
1644.31 7176.43 1644.21 7178.23 1644.01 7179.73 c
1643.81 7181.22 1643.28 7182.54 1642.39 7183.66 c
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1632.03 7178.45 1631.82 7176.95 1631.82 7175.52 c
1631.82 7175.02 1631.83 7174.66 1631.86 7174.41 c
1631.86 7174.36 1631.86 7174.31 1631.86 7174.26 c
1631.86 7174.21 1631.85 7174.17 1631.82 7174.14 c
1631.82 7172.52 1631.97 7170.91 1632.29 7169.29 c
1632.61 7167.67 1633.23 7166.3 1634.17 7165.17 c
1635.1 7164.04 1636.39 7163.47 1638.04 7163.47 c
h
f
7.8139 w
0 J
0 0.44702 0.74023 RG
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1670.2 6760.16 l
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1679.05 6760.38 l
1683.48 6760.55 l
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1900.46 6912.11 l
1904.89 6892.07 l
1909.33 6873.45 l
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1918.18 6841.03 l
1922.61 6827.38 l
1927.03 6815.42 l
1931.46 6805.09 l
1935.9 6796.29 l
1940.32 6788.89 l
1944.75 6782.75 l
1949.18 6777.71 l
1953.6 6773.64 l
1958.03 6770.39 l
1962.47 6767.82 l
1966.89 6765.82 l
1971.32 6764.29 l
1975.75 6763.11 l
1980.17 6762.24 l
1984.6 6761.58 l
1989.04 6761.09 l
1993.46 6760.74 l
1997.89 6760.5 l
2002.32 6760.32 l
2006.74 6760.2 l
2011.17 6760.12 l
2015.61 6760.06 l
2020.03 6760.01 l
2024.46 6760 l
S
0.85156 0.32544 0.09814 RG
1670.14 6760.52 m
1676.43 6760.77 l
1684.21 6761.34 l
1691.98 6762.21 l
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1933.02 6887.3 l
1940.78 6886.83 l
1948.55 6885.4 l
1956.34 6883.09 l
1964.1 6880.61 l
1971.88 6878.3 l
1979.65 6876.09 l
1987.44 6873.75 l
1995.2 6871.27 l
2002.99 6868.9 l
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2026.31 6859.07 l
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2041.86 6849.98 l
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2376.19 6760.04 l
2383.97 6759.98 l
S
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1761.77 6759.96 l
1768.21 6759.98 l
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1781.07 6760.01 l
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1903.29 6979.04 l
1909.73 7000.44 l
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1922.59 7028.53 l
1929.02 7034.76 l
1935.46 7035.84 l
1941.88 7032.27 l
1948.32 7024.86 l
1954.75 7014.62 l
1961.19 7002.54 l
1967.61 6989.46 l
1974.05 6975.84 l
1980.48 6961.84 l
1986.92 6947.65 l
1993.34 6933.5 l
1999.79 6919.71 l
2006.21 6906.55 l
2012.63 6894.16 l
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2025.5 6871.59 l
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2392.15 6759.96 l
S
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1760.97 6759.96 l
1767.55 6759.98 l
1774.13 6759.98 l
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1800.44 6760.13 l
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1905.68 6821.1 l
1912.26 6833.2 l
1918.84 6845.76 l
1925.41 6858.36 l
1931.99 6870.45 l
1938.57 6881.49 l
1945.14 6891.26 l
1951.73 6899.75 l
1958.3 6907.16 l
1964.88 6913.64 l
1971.46 6919.19 l
1978.04 6923.66 l
1984.61 6926.94 l
1991.19 6929.11 l
1997.77 6930.27 l
2004.35 6930.5 l
2010.92 6929.86 l
2017.5 6928.33 l
2024.08 6926.02 l
2030.66 6923.14 l
2037.23 6919.84 l
2043.81 6916.22 l
2050.39 6912.2 l
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2379.27 6760.12 l
2385.85 6760.01 l
2392.43 6759.98 l
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2147.85 6885.96 310.598 243.207 re
f
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2289.17 7101.77 2288.8 7102 2288.33 7102.09 c
2287.86 7102.18 2287.13 7102.23 2286.15 7102.23 c
2286.15 7103.88 l
2293.24 7104.38 l
2293.24 7089.23 l
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2299.04 7084.38 2300.38 7085.08 2301.38 7086.48 c
2302.37 7087.89 2302.86 7089.47 2302.86 7091.24 c
2302.86 7099.57 l
2302.86 7100.43 2302.73 7101.04 2302.47 7101.41 c
2302.21 7101.77 2301.85 7102 2301.38 7102.09 c
2300.9 7102.18 2300.17 7102.23 2299.19 7102.23 c
2299.19 7103.88 l
2306.25 7104.38 l
2306.25 7087.9 l
2306.25 7087.08 2306.38 7086.48 2306.64 7086.12 c
2306.9 7085.75 2307.27 7085.52 2307.74 7085.43 c
2308.21 7085.34 2308.93 7085.29 2309.91 7085.29 c
2309.91 7083.64 l
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h
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h
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h
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h
f
0 0.44702 0.74023 RG
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S
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h
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h
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h
f
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h
f
0.85156 0.32544 0.09814 RG
2159.49 7036.67 m
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S
2289.81 6972.8 m
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h
f
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h
f
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h
f
2373.73 6967.21 m
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h
f
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h
f
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h
f
0.92969 0.69336 0.12549 RG
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S
2286.19 6908.99 m
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h
f
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h
f
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h
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h
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h
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h
f
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S
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S
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S
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S
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h
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h
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h
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h
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h
f
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h
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h
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h
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S
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S
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S
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S
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h
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h
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h
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h
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h
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h
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h
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h
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h
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h
f
4685.38 6759.96 m
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S
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S
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S
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S
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S
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S
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h
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h
f
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h
f
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h
f
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h
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h
f
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h
f
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h
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h
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h
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11.9551 TL
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11.9547 TL
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11.9559 TL
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11.9551 TL
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BT
/R37 6.25113 Tf
1 0 0 1 91.8316 636.123 Tm
(11) Tj
ET
Q
1100.79 6339.85 m
1100.79 6411.11 l
S
q
10 0 0 10 0 0 cm
BT
/R37 6.25113 Tf
1 0 0 1 115.998 636.123 Tm
[ (0\05647) -2518.98 (0) -2547.01 (137) -1867.02 (3\0568) -1533 (4\05646) -1533.03 (5\0566) -2004.97 (4\0567) ] TJ
ET
Q
2558.18 6339.85 m
2558.18 6411.11 l
S
q
10 0 0 10 0 0 cm
BT
/R37 6.25113 Tf
1 0 0 1 265.645 636.123 Tm
[ (0) -2519.02 (0\05641) -2084.99 (75) -2029.02 (4\0561) -1783.01 (4\0568) -1783.01 (5\0564) -2004.97 (4\0569) ] TJ
ET
Q
4004.7 6339.85 m
4004.7 6411.11 l
S
q
10 0 0 10 0 0 cm
BT
/R37 6.25113 Tf
1 0 0 1 406.389 636.123 Tm
[ (0\05642) -1894.02 (0\05643) ] TJ
/R35 6.25113 Tf
46.752 0 Td
(48) Tj
/R37 6.25113 Tf
18.9383 0 Td
[ (4\0560) -1783.01 (4\0565) -1783.01 (5\0565) ] TJ
/R35 6.25113 Tf
58.2664 0 Td
(4\0565) Tj
ET
Q
5451.21 6339.85 m
5451.21 6411.11 l
S
501.121 6268.58 m
501.121 6339.84 l
S
q
10 0 0 10 0 0 cm
BT
/R35 6.25113 Tf
1 0 0 1 55.4254 628.996 Tm
<4f6602636539> Tj
ET
Q
798.359 6268.58 m
798.359 6339.84 l
S
q
10 0 0 10 0 0 cm
BT
/R37 6.25113 Tf
1 0 0 1 93.3949 628.996 Tm
(7) Tj
ET
Q
1100.79 6268.58 m
1100.79 6339.84 l
S
q
10 0 0 10 0 0 cm
BT
/R37 6.25113 Tf
1 0 0 1 115.998 628.996 Tm
[ (0\05621) -2518.98 (0) -2547.01 (279) -1867.02 (5\0569) -1783.01 (6\0562) -1783.01 (6\0564) -2004.97 (7\0561) ] TJ
ET
Q
2558.18 6268.58 m
2558.18 6339.84 l
S
q
10 0 0 10 0 0 cm
BT
/R37 6.25113 Tf
1 0 0 1 265.645 628.996 Tm
[ (0) -2519.02 (0\05649) ] TJ
/R35 6.25113 Tf
42.0637 0 Td
(8\0563) Tj
/R37 6.25113 Tf
19.7191 0 Td
[ (4\0561) -1783.01 (5\0562) -1783.01 (6\0565) -2004.97 (5\0566) ] TJ
ET
Q
4004.7 6268.58 m
4004.7 6339.84 l
S
q
10 0 0 10 0 0 cm
BT
/R37 6.25113 Tf
1 0 0 1 406.389 628.996 Tm
[ (0\05622) -1894.02 (0\05651) -1709.99 (15\0563) -1654 (4\0563) -1783.01 (5\0563) -1783.01 (5\0569) ] TJ
/R35 6.25113 Tf
123.957 0 Td
(5\0564) Tj
ET
Q
5451.21 6268.58 m
5451.21 6339.84 l
S
501.121 6197.32 m
501.121 6268.58 l
S
q
10 0 0 10 0 0 cm
BT
/R35 6.25113 Tf
1 0 0 1 53.8629 621.87 Tm
<4f660263653130> Tj
ET
Q
798.359 6197.32 m
798.359 6268.58 l
S
q
10 0 0 10 0 0 cm
BT
/R37 6.25113 Tf
1 0 0 1 91.8316 621.87 Tm
(23) Tj
ET
Q
1100.79 6197.32 m
1100.79 6268.58 l
S
q
10 0 0 10 0 0 cm
BT
/R37 6.25113 Tf
1 0 0 1 115.998 621.87 Tm
[ (0\05639) -2518.98 (0) -2547.01 (151) -1867.02 (5\0562) -1783.01 (6\0560) -1783.01 (6\0567) -2004.97 (6\0561) ] TJ
ET
Q
2558.18 6197.32 m
2558.18 6268.58 l
S
q
10 0 0 10 0 0 cm
BT
/R37 6.25113 Tf
1 0 0 1 265.645 621.87 Tm
[ (0) -2519.02 (0\05645) -1710 (15\0567) -1654.01 (4\0567) -1783.01 (5\0567) -1783.01 (6\0561) -2004.97 (5\0568) ] TJ
ET
Q
4004.7 6197.32 m
4004.7 6268.58 l
S
q
10 0 0 10 0 0 cm
BT
/R37 6.25113 Tf
1 0 0 1 406.389 621.87 Tm
[ (0\05638) -1894.02 (0\05645) ] TJ
/R35 6.25113 Tf
44.4078 0 Td
(11\0564) Tj
/R37 6.25113 Tf
21.2824 0 Td
[ (4\0568) -1783.01 (5\0565) -1783.01 (5\0569) ] TJ
/R35 6.25113 Tf
58.2664 0 Td
(5\0565) Tj
ET
Q
5451.21 6197.32 m
5451.21 6268.58 l
S
501.121 6126.06 m
501.121 6197.32 l
S
q
10 0 0 10 0 0 cm
BT
/R35 6.25113 Tf
1 0 0 1 53.8629 614.744 Tm
<4f660263653131> Tj
ET
Q
798.359 6126.06 m
798.359 6197.32 l
S
q
10 0 0 10 0 0 cm
BT
/R37 6.25113 Tf
1 0 0 1 91.8316 614.744 Tm
(58) Tj
ET
Q
1100.79 6126.06 m
1100.79 6197.32 l
S
q
10 0 0 10 0 0 cm
BT
/R37 6.25113 Tf
1 0 0 1 115.998 614.744 Tm
[ (0\05678) -2518.98 (0) -2421.97 (21\0563) -1741.99 (4\0564) -1783.01 (5\0561) -1783.01 (5\0565) -2004.97 (5\0560) ] TJ
ET
Q
2558.18 6126.06 m
2558.18 6197.32 l
S
q
10 0 0 10 0 0 cm
BT
/R37 6.25113 Tf
1 0 0 1 265.645 614.744 Tm
[ (0) -2519.02 (0\05647) ] TJ
/R35 6.25113 Tf
42.0637 0 Td
(9\0569) Tj
/R37 6.25113 Tf
19.7191 0 Td
[ (4\0563) -1783.01 (4\0569) -1533 (5\05657) -1754.99 (5\0561) ] TJ
ET
Q
4004.7 6126.06 m
4004.7 6197.32 l
S
q
10 0 0 10 0 0 cm
BT
/R37 6.25113 Tf
1 0 0 1 406.389 614.744 Tm
[ (0\05677) -1894.02 (0\05647) ] TJ
/R35 6.25113 Tf
46.752 0 Td
(10) Tj
/R37 6.25113 Tf
18.9383 0 Td
[ (3\0568) -1783.01 (4\0563) -1783.01 (4\0569) ] TJ
/R35 6.25113 Tf
58.2664 0 Td
(4\0563) Tj
ET
Q
5451.21 6126.06 m
5451.21 6197.32 l
S
501.121 6124.8 m
5451.21 6124.8 l
S
q
10 0 0 10 0 0 cm
BT
/R37 8.9664 Tf
1 0 0 1 50.1121 605.245 Tm
[ (T) 79.9813 (able) -273.01 (3\056) -273.003 (Performance) -272.985 (on) -272.981 (t) 1.01153 (he) -273 (dataset) -273.015 (by) -272.981 (\133) ] TJ
ET
Q
0 1 0 rg
q
10 0 0 10 0 0 cm
BT
/R37 8.9664 Tf
1 0 0 1 196.246 605.245 Tm
(33) Tj
ET
Q
0 g
q
10 0 0 10 0 0 cm
BT
/R37 8.9664 Tf
1 0 0 1 205.213 605.245 Tm
[ (\135\054) -278.985 (consisting) -273.008 (of) -271.993 (12) -272.981 (image) -273 (sequences) -273.005 (and) -273 (a) -273 (point) -273.008 (cloud) -272.992 (with) -272.017 (SIFT) -273.008 (descriptors\056) -378.992 (As) -272.986 (in) -273.014 (\133) ] TJ
ET
Q
0 1 0 rg
q
10 0 0 10 0 0 cm
BT
/R37 8.9664 Tf
1 0 0 1 510.384 605.245 Tm
(5) Tj
ET
Q
0 g
q
10 0 0 10 0 0 cm
BT
/R37 8.9664 Tf
1 0 0 1 514.868 605.245 Tm
(\054) Tj
ET
Q
0 1 0 rg
q
10 0 0 10 0 0 cm
BT
/R37 8.9664 Tf
1 0 0 1 518.409 605.245 Tm
(30) Tj
ET
Q
0 g
q
10 0 0 10 0 0 cm
BT
/R37 8.9664 Tf
1 0 0 1 527.376 605.245 Tm
(\054) Tj
ET
Q
0 1 0 rg
q
10 0 0 10 0 0 cm
BT
/R37 8.9664 Tf
1 0 0 1 530.918 605.245 Tm
(32) Tj
ET
Q
0 g
q
10 0 0 10 0 0 cm
BT
/R37 8.9664 Tf
1 0 0 1 539.884 605.245 Tm
(\135\054) Tj
-489.772 -10.959 Td
[ (the) -274.995 (position) -276 (error) -275.003 (is) -275.015 (computed) -276.009 (using) -275.016 (the) -274.994 (output) -276.014 (of) -274.999 (RANSA) 39.9958 (C) -275.015 (without) -276.014 <7265026e656d656e742e> -386.003 (Notice) -275.015 (that) -274.985 (our) -276 (h) 5.01002 (ybrid) -274.99 (approach) -275.012 (performs) -275.992 (better) -275.018 (both) -275.023 (in) ] TJ
10.959 TL
T*
[ (runtime) -294.988 (and) -294 (accurac) 15.0083 (y) -294.981 (than) -293.99 (using) -295.013 (each) -293.993 (of) -294.996 (the) -294.992 (matches) -294.015 (separately) 65.0187 (\056) -443.997 (F) 15.0056 (or) -294.995 (tw) 10.02 (o) -293.979 (sequences) -295.006 (\0501) -293.993 (and) -295 (2\051\054) -305.995 (there) -293.979 (w) 10.0092 (as) -294.998 (not) -294.012 (enough) -295.003 (visual) -294.976 (o) 14.9865 (v) 14.9865 (erlap) -293.979 (with) ] TJ
T*
[ (\223Of) 25.0072 <026365313294> -250.017 (in) -250.013 (order) -249.982 (to) -250.014 (localize) -249.982 (using) -250.01 (only) -250.014 (2D\0552D) -250.014 (matches\056) ] TJ
ET
Q
3.42889 w
796.43 5662.71 m
2568.32 5662.71 l
S
796.43 5583.52 m
796.43 5660.98 l
S
q
10 0 0 10 0 0 cm
BT
/R37 6.86648 Tf
1 0 0 1 85.9426 552.849 Tm
(Method) Tj
ET
Q
1136.05 5583.52 m
1136.05 5660.98 l
S
q
10 0 0 10 0 0 cm
BT
/R35 6.86648 Tf
1 0 0 1 167.001 560.677 Tm
[ (Inlier) -250.01 (Count) ] TJ
ET
Q
2568.32 5583.52 m
2568.32 5660.98 l
S
1136.05 5581.81 m
2568.32 5581.81 l
S
796.43 5506.06 m
796.43 5583.52 l
S
1136.05 5506.06 m
1136.05 5583.52 l
S
q
10 0 0 10 0 0 cm
BT
/R37 6.86648 Tf
1 0 0 1 118.754 548.975 Tm
(Mean) Tj
ET
Q
1395.38 5506.06 m
1395.38 5583.52 l
S
q
10 0 0 10 0 0 cm
BT
/R37 6.86648 Tf
1 0 0 1 185.026 552.93 Tm
(Quantiles) Tj
ET
Q
2568.32 5506.06 m
2568.32 5583.52 l
S
796.43 5428.61 m
796.43 5506.06 l
S
1136.05 5428.61 m
1136.05 5506.06 l
S
1395.38 5428.61 m
1395.38 5506.06 l
S
q
10 0 0 10 0 0 cm
BT
/R37 6.86648 Tf
1 0 0 1 144.689 545.184 Tm
[ (25\045) -1709 (50\045) -1707.98 (75\045) -1499.99 (90\045) -1499.99 (95\045) ] TJ
ET
Q
2568.32 5428.61 m
2568.32 5506.06 l
S
796.43 5426.89 m
2568.32 5426.89 l
S
796.43 5347.71 m
796.43 5425.16 l
S
q
10 0 0 10 0 0 cm
BT
/R35 6.86648 Tf
1 0 0 1 85.9391 537.094 Tm
(Hybrid) Tj
ET
Q
1136.05 5347.71 m
1136.05 5425.16 l
S
q
10 0 0 10 0 0 cm
BT
/R35 6.86648 Tf
1 0 0 1 121.421 537.094 Tm
(260) Tj
ET
Q
1395.38 5347.71 m
1395.38 5425.16 l
S
q
10 0 0 10 0 0 cm
BT
/R35 6.86648 Tf
1 0 0 1 144.974 537.094 Tm
[ (74\0565) -1916.02 (175) -2042 (372) -1832.99 (632) -1832.99 (804) ] TJ
ET
Q
2568.32 5347.71 m
2568.32 5425.16 l
S
796.43 5345.99 m
2568.32 5345.99 l
S
796.43 5266.81 m
796.43 5344.27 l
S
q
10 0 0 10 0 0 cm
BT
/R37 6.86648 Tf
1 0 0 1 91.0895 529.005 Tm
(P3P) Tj
ET
Q
1136.05 5266.81 m
1136.05 5344.27 l
S
q
10 0 0 10 0 0 cm
BT
/R37 6.86648 Tf
1 0 0 1 121.421 529.005 Tm
(239) Tj
ET
Q
1395.38 5266.81 m
1395.38 5344.27 l
S
q
10 0 0 10 0 0 cm
BT
/R37 6.86648 Tf
1 0 0 1 144.974 529.005 Tm
[ (72\0565) -1541.01 (167\0565) -1667.01 (349) -1832.99 (583) -1832.99 (690) ] TJ
ET
Q
2568.32 5266.81 m
2568.32 5344.27 l
S
796.43 5265.09 m
2568.32 5265.09 l
S
796.43 5185.92 m
796.43 5263.38 l
S
q
10 0 0 10 0 0 cm
BT
/R37 6.86648 Tf
1 0 0 1 84.7922 520.916 Tm
(SixPoint) Tj
ET
Q
1136.05 5185.92 m
1136.05 5263.38 l
S
q
10 0 0 10 0 0 cm
BT
/R37 6.86648 Tf
1 0 0 1 121.421 520.916 Tm
(246) Tj
ET
Q
1395.38 5185.92 m
1395.38 5263.38 l
S
q
10 0 0 10 0 0 cm
BT
/R37 6.86648 Tf
1 0 0 1 147.549 520.916 Tm
[ (71) -2291.01 (174) -2042 (354) -1832.99 (609) -1832.99 (724) ] TJ
ET
Q
2568.32 5185.92 m
2568.32 5263.38 l
S
796.43 5184.2 m
2568.32 5184.2 l
S
q
10 0 0 10 0 0 cm
BT
/R37 8.9664 Tf
1 0 0 1 50.1121 511.137 Tm
[ (T) 79.9813 (able) -391.987 (4\056) -391.981 (Statistics) -391.009 (on) -392.002 (the) -392.011 (number) -391.983 (of) -392.017 (inliers) -392.004 (for) -391.985 (the) -391.011 (e) 15.011 (xperiments) ] TJ
10.959 TL
T*
[ (on) -280.998 (the) -282.009 (dataset) -280.987 (for) -280.982 (\133) ] TJ
ET
Q
0 1 0 rg
q
10 0 0 10 0 0 cm
BT
/R37 8.9664 Tf
1 0 0 1 118.463 500.178 Tm
(23) Tj
ET
Q
0 g
q
10 0 0 10 0 0 cm
BT
/R37 8.9664 Tf
1 0 0 1 127.429 500.178 Tm
[ (\135\056) -404.018 (Our) -281.98 (h) 5.01002 (ybrid) -281.002 (method) -281 (is) -281.985 (able) -280.983 (to) -281.991 (cons) 0.98567 (istently) ] TJ
-77.3172 -10.959 Td
[ (achie) 25.0025 (v) 14.9865 (e) -211.006 (a) -212.008 (lar) 18.0123 (ger) -211.02 (number) -212.014 (of) -211.002 (inliers\056) -298.011 (Res) 1 (ults) -212.011 (a) 20.021 (v) 14.9865 (eraged) -211.015 (o) 14.9865 (v) 14.9865 (er) -211.978 (100) -210.987 (runs\056) ] TJ
/R37 9.9626 Tf
15.9793 TL
T*
[ (the) -394.985 (highest) -395 (inlier) -395.014 (consensus) -393.983 (per) -394.995 (image\056) -744.996 (F) 14.9926 (or) -394.99 (824) -395.017 (images\054) ] TJ
/R35 9.9626 Tf
11.9547 TL
(H22) '
/R37 9.9626 Tf
21.7758 0 Td
[ <026e6473> -408.019 (the) -408.003 (best) -407.017 (model) -407.986 (214) -407.996 (times\073) ] TJ
/R35 9.9626 Tf
136.971 0 Td
(H41) Tj
/R37 9.9626 Tf
21.777 0 Td
[ <026e6473> -408.02 (the) -408.003 (best) ] TJ
-180.524 -11.9551 Td
[ (model) -333.017 (245) -332.988 (times\054) -353.008 (P3P) -333.008 <026e6473> -333.012 (it) -332.008 (197) -332.989 (times) -333.013 (and) -332.998 <026e616c6c79> -333.008 (SixPt) ] TJ
11.9559 TL
T*
[ <026e6473> -276.002 (it) -276.018 (168) -276.997 (times) 1.00841 (\056) -388.991 (Thus\054) -282.99 (depending) -276.004 (on) -275.983 (the) -275.986 (image) -276.998 (bei) 0.98758 (ng) -277.003 (lo\055) ] TJ
11.9551 TL
T*
[ (calized\054) -313.983 (one) -301.003 (solv) 15.0012 (er) -301.996 (is) -300.995 (more) -300.999 (suited) -302.002 (than) -300.996 (another) 54.981 (\056) -463.999 (Re) 14.9877 (g) 4.98446 (arding) ] TJ
T*
[ (the) -231.012 (number) -229.981 (of) -231.019 (inliers) -230.016 (obtained) -230.995 (by) -229.991 (our) -231.013 (method\054) -234.008 (we) -230.984 (measured) ] TJ
T*
[ (the) -249.99 (mean) -249.989 (number) -250.017 (of) -249.996 (inliers) -250.012 (across) -249.993 (all) -249.988 (images\054) ] TJ
/R47 9.9626 Tf
182.892 0 Td
(c\056f) Tj
/R37 9.9626 Tf
11.1383 0 Td
[ (\056) -249.995 (T) 79.9916 (able) ] TJ
ET
Q
1 0 0 rg
q
10 0 0 10 0 0 cm
BT
/R37 9.9626 Tf
1 0 0 1 273.502 401.509 Tm
(4) Tj
ET
Q
0 g
q
10 0 0 10 0 0 cm
BT
/R37 9.9626 Tf
1 0 0 1 278.483 401.509 Tm
(\056) Tj
/R35 9.9626 Tf
-228.371 -26.7738 Td
[ (5\0562\0562) -1000.01 (SLAM) -250.006 (T) 74.0011 (rajectory) -250.006 (Registration) ] TJ
/R37 9.9626 Tf
18.766 TL
T*
[ (In) -341 (this) -341.015 (e) 15.0128 (xperiment) -341.012 (we) -339.984 (aim) -340.987 (to) -340.99 (measure) -340.995 (the) -340.995 (performance) -341.002 (of) ] TJ
11.9551 TL
T*
[ (our) -360.012 (frame) 25.0124 (w) 10.0014 (ork) -358.992 (applied) -359.998 (to) ] TJ
/R35 8.9664 Tf
108.278 0 Td
(P) Tj
/R35 7.1731 Tf
5.92734 0 Td
[ (R) -32.0105 (O) -61.9975 (B) -60.9798 (L) -62.0145 (E) -62.0145 (M) ] TJ
/R156 8.9664 Tf
37.3328 0 Td
[ (5) -0.69977 ] TJ
/R35 8.9664 Tf
5.53008 0 Td
(\055) Tj
/R35 7.9701 Tf
3.40898 0 Td
(D) Tj
/R35 6.3761 Tf
6.15313 0 Td
(O) Tj
/R35 7.9701 Tf
5.35586 0 Td
(F) Tj
/R37 9.9626 Tf
5.06914 0 Td
[ (\056) -638.989 (This) -359.996 (type) -360.006 (of) ] TJ
-177.055 -11.9559 Td
[ (problem) -250.99 (is) -251.003 (particularly) -250.012 (rele) 25.0105 (v) 24.9811 (ant) -251.01 (for) -251.018 (SfM) -250.995 (re) 15.0098 (gistration\054) -251.012 (where) ] TJ
T*
[ (we) -343.003 (ha) 19.9973 (v) 14.9828 (e) -343.006 (tw) 10.0081 (o) -342.997 (reconstructions) -343.002 (\050with) -342.983 (dif) 24.986 (ferent) -343.004 (scales\051) -343 (which) ] TJ
T*
[ (we) -396.014 (aim) -395.017 (to) -396 (mer) 18.0019 (ge) -396.011 (into) -395.988 (one\056) -747.004 (W) 79.9879 (e) -396.017 (used) -394.981 (the) -396.005 (dataset) -396 (in) -396 (\133) ] TJ
ET
Q
0 1 0 rg
q
10 0 0 10 0 0 cm
BT
/R37 9.9626 Tf
1 0 0 1 270.595 308.148 Tm
(33) Tj
ET
Q
0 g
q
10 0 0 10 0 0 cm
BT
/R37 9.9626 Tf
1 0 0 1 280.557 308.148 Tm
(\135\054) Tj
-230.445 -11.9551 Td
[ (which) -372.981 (consists) -372.018 (of) -372.995 (12) -372.987 (video) -371.998 (sequences) -372.987 (of) -372.014 (an) -372.997 (of) 25.0179 <026365> -372.992 (indoor) ] TJ
11.9547 TL
T*
[ (scene\054) -279.992 (as) -273.992 (well) -275 (as) -273.992 (a) -273.998 (3D) -273.986 (reconstruction) -274 (of) -273.991 (the) -275.006 (scene) -273.996 (obtained) ] TJ
T*
[ (using) -234.991 (SfM\056) -234.995 (Additionally) 64.9892 (\054) -237.997 (each) -234.009 (of) -235.018 (the) -235.012 (12) -235.01 (sequences) -235.01 (were) -234.99 (ran) ] TJ
11.9559 TL
T*
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/R37 8.9664 Tf
20.425 0 Td
[ (\054) -250 (2009\056) ] TJ
ET
Q
1 0 0 rg
q
10 0 0 10 0 0 cm
BT
/R37 8.9664 Tf
1 0 0 1 215.627 681.072 Tm
(1) Tj
ET
Q
0 g
q
10 0 0 10 0 0 cm
BT
/R37 8.9664 Tf
1 0 0 1 54.5949 669.044 Tm
[ (\1332\135) -556.01 (C\056) -294.99 (Beder) -295.02 (and) -295 (R\056) -294.99 (Stef) 25.0011 (fen\056) -504.021 (Determining) -295.009 (an) -295 (Initial) -294.979 (Image) -294.981 (P) 15.0056 (air) ] TJ
15.4359 -10.959 Td
[ (for) -323.981 (Fixing) -324.004 (the) -325.008 (Scale) -323.981 (of) -324.011 (a) -324.015 (3d) -323.996 (Reconstruction) -324.982 (from) -324.015 (an) -324.015 (Image) ] TJ
10.959 TL
T*
[ (Sequence\056) -353.004 (In) ] TJ
/R47 8.9664 Tf
49.443 0 Td
[ (J) 24.9875 (oint) -246.998 (P) 79.9807 (attern) -246.011 (Reco) 10.02 (gnition) -246.991 (Symposium) ] TJ
/R37 8.9664 Tf
134.609 0 Td
[ (\054) -246.994 (2006\056) ] TJ
ET
Q
1 0 0 rg
q
10 0 0 10 0 0 cm
BT
/R37 8.9664 Tf
1 0 0 1 281.879 647.126 Tm
(7) Tj
ET
Q
0 g
q
10 0 0 10 0 0 cm
BT
/R37 8.9664 Tf
1 0 0 1 54.5949 635.098 Tm
[ (\1333\135) -556.01 (M\056) -369.017 (Bujnak\054) -399.993 (Z\056) -369.985 (K) 15.0205 (uk) 10.02 (elo) 15.0205 (v) 25.0066 (a\054) -400.015 (and) -370.02 (T) 74.0122 (\056) -369.979 (P) 15.0042 (ajdla\056) -744.008 (Making) -369.005 (Minimal) ] TJ
15.4359 -10.959 Td
[ (Solv) 15.0131 (ers) -250.007 (F) 15.0042 (ast\056) -360.008 (In) ] TJ
/R47 8.9664 Tf
58.998 0 Td
(CVPR) Tj
/R37 8.9664 Tf
22.416 0 Td
[ (\054) -250 (2012\056) ] TJ
ET
Q
1 0 0 rg
q
10 0 0 10 0 0 cm
BT
/R37 8.9664 Tf
1 0 0 1 179.33 624.139 Tm
(5) Tj
ET
Q
0 g
q
10 0 0 10 0 0 cm
BT
/R37 8.9664 Tf
1 0 0 1 54.5949 612.111 Tm
[ (\1334\135) -556.01 (F) 80.0045 (\056) -214.015 (Camposeco\054) -221.017 (A\056) -213.981 (Cohen\054) -220.992 (T) 74.0122 (\056) -214.015 (Sattler) 39.9862 (\054) -220.986 (A\056) -213.982 (Geiger) 39.9849 (\054) -220.986 (and) -214.012 (M\056) -214.012 (Polle\055) ] TJ
15.4359 -10.959 Td
[ (fe) 14.9974 (ys\056) -341.004 (T) 79.9813 (oroidal) -241.02 (Constraints) -240.989 (for) -240.989 (T) 79.9807 (w) 10.0105 (o) -241.004 (Point) -241.012 (Localization) -241.007 (Under) ] TJ
10.959 TL
T*
[ (High) -249.98 (Outlier) -249.995 (Ratios\056) -359.987 (In) ] TJ
/R47 8.9664 Tf
85.9152 0 Td
(CVPR) Tj
/R37 8.9664 Tf
22.416 0 Td
[ (\054) -250 (2017\056) ] TJ
ET
Q
1 0 0 rg
q
10 0 0 10 0 0 cm
BT
/R37 8.9664 Tf
1 0 0 1 206.248 590.193 Tm
(1) Tj
ET
Q
0 g
q
10 0 0 10 0 0 cm
BT
/R37 8.9664 Tf
1 0 0 1 54.5949 578.164 Tm
[ (\1335\135) -556.01 (F) 80.0045 (\056) -225.996 (Camposeco\054) -231.995 (T) 74.0122 (\056) -226.998 (Sattler) 39.9862 (\054) -231.006 (and) -226.995 (M\056) -226.994 (Pollefe) 15.0137 (ys\056) -309.987 (Minimal) -225.996 (Solv) 15.0137 (ers) ] TJ
15.4359 -10.9578 Td
[ (for) -325.985 (Generalized) -326.014 (Pose) -327 (and) -326.019 (Scale) -325.985 (Estimation) -326.019 (from) -326.978 (T) 79.9807 (w) 10.0092 (o) -326 (Rays) ] TJ
10.959 TL
T*
[ (and) -249.998 (One) -250.007 (Point\056) -360.011 (In) ] TJ
/R47 8.9664 Tf
66.4852 0 Td
(ECCV) Tj
/R37 8.9664 Tf
22.918 0 Td
[ (\054) -250 (2016\056) ] TJ
ET
Q
1 0 0 rg
q
10 0 0 10 0 0 cm
BT
/R37 8.9664 Tf
1 0 0 1 187.32 556.247 Tm
(2) Tj
ET
Q
0 g
q
10 0 0 10 0 0 cm
BT
/R37 8.9664 Tf
1 0 0 1 191.803 556.247 Tm
(\054) Tj
ET
Q
1 0 0 rg
q
10 0 0 10 0 0 cm
BT
/R37 8.9664 Tf
1 0 0 1 196.286 556.247 Tm
(3) Tj
ET
Q
0 g
q
10 0 0 10 0 0 cm
BT
/R37 8.9664 Tf
1 0 0 1 200.769 556.247 Tm
(\054) Tj
ET
Q
1 0 0 rg
q
10 0 0 10 0 0 cm
BT
/R37 8.9664 Tf
1 0 0 1 205.252 556.247 Tm
(8) Tj
ET
Q
0 g
q
10 0 0 10 0 0 cm
BT
/R37 8.9664 Tf
1 0 0 1 54.5949 544.218 Tm
[ (\1336\135) -556.01 (B\056) -315.989 (Clipp\054) -334.007 (C\056) -315.988 (Zach\054) -333.994 (J\056\055M\056) -315.985 (Frahm\054) -334.001 (and) -317.001 (M\056) -316 (Pollefe) 15.0137 (ys\056) -573.993 (A) -315.991 (Ne) 25.0229 (w) ] TJ
15.4359 -10.959 Td
[ (Minimal) -235.015 (Solution) -233.99 (to) -234.984 (the) -235.001 (Relati) 25.0093 (v) 14.9865 (e) -234.009 (Pose) -234.989 (of) -235.005 (a) -234.009 (Calibrated) -234.978 (Stereo) ] TJ
10.959 TL
T*
[ (Camera) -245.017 (with) -246.006 (Sma) 1.01017 (ll) -245.996 (Field) -244.994 (of) -244.983 (V) 59.9801 (ie) 24.997 (w) -245.98 (Ov) 15.0205 (erlap\056) -348.981 (In) ] TJ
/R47 8.9664 Tf
166.305 0 Td
(ICCVL) Tj
/R37 8.9664 Tf
25.4109 0 Td
[ (\054) -244.99 (2009\056) ] TJ
ET
Q
1 0 0 rg
q
10 0 0 10 0 0 cm
BT
/R37 8.9664 Tf
1 0 0 1 70.0309 511.342 Tm
(2) Tj
ET
Q
0 g
q
10 0 0 10 0 0 cm
BT
/R37 8.9664 Tf
1 0 0 1 74.5141 511.342 Tm
(\054) Tj
ET
Q
1 0 0 rg
q
10 0 0 10 0 0 cm
BT
/R37 8.9664 Tf
1 0 0 1 78.9973 511.342 Tm
(3) Tj
ET
Q
0 g
q
10 0 0 10 0 0 cm
BT
/R37 8.9664 Tf
1 0 0 1 54.5949 499.313 Tm
[ (\1337\135) -556.01 (A\056) -436.993 (J\056) -437.981 (Da) 20.0115 (vison\054) -484.021 (I\056) -437.999 (D\056) -436.992 (Reid\054) -484.989 (N\056) -436.992 (D\056) -437.995 (Molton\054) -484.012 (and) -437.982 (O\056) -436.994 (Stasse\056) ] TJ
15.4359 -10.959 Td
[ (Monoslam\072) -410.981 (Real\055time) -301.015 (single) -300.991 (c) 0.98294 (amera) -301.011 (slam\056) ] TJ
/R47 8.9664 Tf
159.155 0 Td
[ (P) 90 (AMI) ] TJ
/R37 8.9664 Tf
20.6051 0 Td
[ (\054) -301.015 (29\0722007\054) ] TJ
-179.76 -10.959 Td
(2007\056) Tj
ET
Q
1 0 0 rg
q
10 0 0 10 0 0 cm
BT
/R37 8.9664 Tf
1 0 0 1 93.4332 477.395 Tm
(1) Tj
ET
Q
0 g
q
10 0 0 10 0 0 cm
BT
/R37 8.9664 Tf
1 0 0 1 54.5949 465.367 Tm
[ (\1338\135) -556.01 (M\056) -240.978 (Fischler) -242.017 (and) -241.981 (R\056) -241.012 (Bolles\056) -341.994 (Random) -242.003 (Sampling) -241.981 (Consensus\072) -304.985 (A) ] TJ
15.4359 -10.959 Td
[ (P) 15.0049 (aradigm) -226.008 (for) -226.002 (Model) -226.983 (Fitting) -226.008 (with) -226.009 (Application) -225.987 (to) -227.011 (Image) -226.017 (Anal\055) ] TJ
10.959 TL
T*
[ (ysis) -250.004 (and) -249.998 (Automated) -250 (Cartograph) 5.00866 (y) 65 (\056) ] TJ
/R47 8.9664 Tf
123.134 0 Td
[ (CA) 29.9812 (CM) ] TJ
/R37 8.9664 Tf
24.6402 0 Td
[ (\054) -250 (24\054) -250 (1981\056) ] TJ
ET
Q
1 0 0 rg
q
10 0 0 10 0 0 cm
BT
/R37 8.9664 Tf
1 0 0 1 259.14 443.449 Tm
(1) Tj
ET
Q
0 g
q
10 0 0 10 0 0 cm
BT
/R37 8.9664 Tf
1 0 0 1 263.623 443.449 Tm
(\054) Tj
ET
Q
1 0 0 rg
q
10 0 0 10 0 0 cm
BT
/R37 8.9664 Tf
1 0 0 1 268.107 443.449 Tm
(2) Tj
ET
Q
0 g
q
10 0 0 10 0 0 cm
BT
/R37 8.9664 Tf
1 0 0 1 54.5949 431.421 Tm
[ (\1339\135) -556.01 (C\056) -402.989 (H) ] TJ
34.2492 0.04492 Td
(\250) Tj
-0.49727 -0.04492 Td
[ (ane\054) -441.988 (L\056) -404.009 (Heng\054) -441.979 (G\056) -404.013 (H\056) -403.011 (Lee\054) -442.994 (F) 80.0038 (\056) -403.002 (Fraundorfer) 40.0039 (\054) -441.993 (P) 110.98 (\056) -404.004 (Fur) 17.9952 (g) 5.01002 (ale\054) ] TJ
-18.316 -10.959 Td
[ (T) 74.0129 (\056) -324.018 (Sattler) 39.9862 (\054) -342.01 (and) -324.015 (M\056) -323.012 (Pollefe) 15.0137 (ys\056) -595.993 (3D) -324.006 (visual) -323.993 (perce) 1.01834 (ption) -323.98 (for) -323.98 (self\055) ] TJ
10.959 TL
T*
[ (dri) 25.0011 (ving) -254.98 (cars) -253.99 (using) -255.02 (a) -255.007 (multi\055camera) -255.003 (system\072) -319.013 (Calibration\054) -256.015 (map\055) ] TJ
T*
[ (ping\054) -279.007 (localization\054) -279.003 (and) -273 (obstacle) -273.015 (detection\056) ] TJ
/R47 8.9664 Tf
153.5 0 Td
[ (Ima) 9.99554 (g) 10.02 (e) -273 (and) -272.981 (V) 74.0122 (ision) ] TJ
-153.5 -10.959 Td
(Computing) Tj
/R37 8.9664 Tf
39.8551 0 Td
[ (\054) -250 (2017\056) ] TJ
ET
Q
1 0 0 rg
q
10 0 0 10 0 0 cm
BT
/R37 8.9664 Tf
1 0 0 1 137.771 387.585 Tm
(1) Tj
ET
Q
0 g
q
10 0 0 10 0 0 cm
BT
/R37 8.9664 Tf
1 0 0 1 50.1121 375.557 Tm
[ (\13310\135) -556.01 (R\056) -241.013 (Haralick\054) -244.007 (C\056\055N\056) -242.017 (Lee\054) -242.985 (K\056) -241.994 (Ottenber) 17.9925 (g\054) -243.988 (and) -241.981 (M\056) -241.981 (N) ] TJ
191.292 0.04531 Td
(\250) Tj
-0.74883 -0.04531 Td
[ (olle\056) -343.012 (Re) 25.0011 (vie) 24.9957 (w) ] TJ
-170.624 -10.959 Td
[ (and) -283.979 (analysis) -285.016 (of) -284.018 (solutions) -284.013 (of) -285.02 (the) -284.013 (three) -284.003 (point) -284.989 (perspecti) 25.0011 (v) 14.9865 (e) -284.022 (pose) ] TJ
10.959 TL
T*
[ (estimation) -250.011 (problem\056) ] TJ
/R47 8.9664 Tf
74.9582 0 Td
(IJCV) Tj
/R37 8.9664 Tf
18.4258 0 Td
[ (\054) -250 (13\0503\051\054) -249.987 (1994\056) ] TJ
ET
Q
1 0 0 rg
q
10 0 0 10 0 0 cm
BT
/R37 8.9664 Tf
1 0 0 1 215.205 353.639 Tm
(1) Tj
ET
Q
0 g
q
10 0 0 10 0 0 cm
BT
/R37 8.9664 Tf
1 0 0 1 50.1121 341.611 Tm
[ (\13311\135) -556.01 (J\056) -258.012 (Heinly) 64.9887 (\054) -260.02 (J\056) -258.012 (L\056) -258.98 (Sch) ] TJ
88.6418 0.04492 Td
(\250) Tj
-0.74883 -0.04492 Td
[ (onber) 18.002 (ger) 40.0039 (\054) -260.02 (E\056) -258.98 (Dunn\054) -259.988 (and) -258.013 (J\056) -258.011 (M\056) -259.016 (Frahm\056) -386.017 (Re\055) ] TJ
-67.9742 -10.959 Td
[ (constructing) -250 (the) -249.988 (w) 10.0105 (orld\052) -249.984 (in) -250.014 (six) -250.008 (days\056) -360.018 (In) ] TJ
/R47 8.9664 Tf
140.86 0 Td
(CVPR) Tj
/R37 8.9664 Tf
22.416 0 Td
[ (\054) -250 (2015\056) ] TJ
ET
Q
1 0 0 rg
q
10 0 0 10 0 0 cm
BT
/R37 8.9664 Tf
1 0 0 1 261.193 330.652 Tm
(1) Tj
ET
Q
0 g
q
10 0 0 10 0 0 cm
BT
/R37 8.9664 Tf
1 0 0 1 50.1121 318.623 Tm
[ (\13312\135) -556.01 (K\056) -395.998 (Josephson) -396.016 (and) -395.985 (M\056) -395.984 (Byrod\056) -826.982 (Pose) -396.007 (estimation) -395.999 (with) -396.002 (radial) ] TJ
19.9187 -10.9582 Td
[ (distortion) -249.997 (and) -249.997 (unkno) 25.0052 (wn) -249.988 (focal) -250.022 (length\056) -360.004 (In) ] TJ
/R47 8.9664 Tf
144.958 0 Td
(CVPR) Tj
/R37 8.9664 Tf
22.416 0 Td
[ (\054) -250 (2009\056) ] TJ
ET
Q
1 0 0 rg
q
10 0 0 10 0 0 cm
BT
/R37 8.9664 Tf
1 0 0 1 265.291 307.665 Tm
(1) Tj
ET
Q
0 g
q
10 0 0 10 0 0 cm
BT
/R37 8.9664 Tf
1 0 0 1 269.774 307.665 Tm
(\054) Tj
ET
Q
1 0 0 rg
q
10 0 0 10 0 0 cm
BT
/R37 8.9664 Tf
1 0 0 1 274.257 307.665 Tm
(2) Tj
ET
Q
0 g
q
10 0 0 10 0 0 cm
BT
/R37 8.9664 Tf
1 0 0 1 50.1121 295.636 Tm
[ (\13313\135) -556.01 (K\056) -343.981 (Josephson\054) -367.983 (M\056) -344.01 (Byrod\054) -368.02 (F) 80.0038 (\056) -344.014 (Kahl\054) -367.996 (and) -344.012 (K\056) -344.984 (Astrom\056) -661 (Image\055) ] TJ
19.9187 -10.959 Td
[ (based) -283.993 (localization) -283.991 (using) -283.991 (h) 5.01002 (ybrid) -284.008 (feature) -282.99 (correspondences\056) -468.987 (In) ] TJ
/R47 8.9664 Tf
10.959 TL
(CVPR) '
/R37 8.9664 Tf
22.416 0 Td
[ (\054) -250 (pages) -250.012 (1\2268\056) -250.002 (IEEE\054) -249.987 (2007\056) ] TJ
ET
Q
1 0 0 rg
q
10 0 0 10 0 0 cm
BT
/R37 8.9664 Tf
1 0 0 1 184.828 273.718 Tm
(2) Tj
ET
Q
0 g
q
10 0 0 10 0 0 cm
BT
/R37 8.9664 Tf
1 0 0 1 189.311 273.718 Tm
(\054) Tj
ET
Q
1 0 0 rg
q
10 0 0 10 0 0 cm
BT
/R37 8.9664 Tf
1 0 0 1 193.794 273.718 Tm
(4) Tj
ET
Q
0 g
q
10 0 0 10 0 0 cm
BT
/R37 8.9664 Tf
1 0 0 1 50.1121 261.69 Tm
[ (\13314\135) -556.01 (L\056) -562.98 (Kneip\054) -641.979 (D\056) -562.984 (Scaramuzza\054) -642.015 (and) -564.017 (R\056) -563.004 (Sie) 14.9947 (gw) 10.0092 (art\056) -1362.99 (A) -563.007 (no) 14.9865 (v) 14.9865 (el) ] TJ
19.9187 -10.959 Td
[ (parametrization) -270.009 (of) -268.988 (the) -269.984 (perspecti) 25.0011 (v) 14.9865 (e\055three\055point) -270.005 (problem) -268.989 (for) -270.002 (a) ] TJ
10.959 TL
T*
[ (direct) -289.003 (computation) -288.014 (of) -288.984 (absolute) -287.984 (camera) -289.008 (position) -287.981 (and) -288.988 (orienta\055) ] TJ
T*
[ (tion\056) -359.986 (In) ] TJ
/R47 8.9664 Tf
29.132 0 Td
(CVPR) Tj
/R37 8.9664 Tf
22.4152 0 Td
[ (\054) -250 (2011\056) ] TJ
ET
Q
1 0 0 rg
q
10 0 0 10 0 0 cm
BT
/R37 8.9664 Tf
1 0 0 1 149.464 228.813 Tm
(2) Tj
ET
Q
0 g
q
10 0 0 10 0 0 cm
BT
/R37 8.9664 Tf
1 0 0 1 153.947 228.813 Tm
(\054) Tj
ET
Q
1 0 0 rg
q
10 0 0 10 0 0 cm
BT
/R37 8.9664 Tf
1 0 0 1 158.43 228.813 Tm
(4) Tj
ET
Q
0 g
q
10 0 0 10 0 0 cm
BT
/R37 8.9664 Tf
1 0 0 1 162.913 228.813 Tm
(\054) Tj
ET
Q
1 0 0 rg
q
10 0 0 10 0 0 cm
BT
/R37 8.9664 Tf
1 0 0 1 167.396 228.813 Tm
(7) Tj
ET
Q
0 g
q
10 0 0 10 0 0 cm
BT
/R37 8.9664 Tf
1 0 0 1 50.1121 216.785 Tm
[ (\13315\135) -556.01 (Z\056) -206.005 (K) 15.0205 (uk) 10.0194 (elo) 15.0205 (v) 25.0066 (a\054) -214.993 (M\056) -206.997 (Bujnak\054) -215.014 (and) -206.998 (T) 74.0122 (\056) -206 (P) 15.0042 (ajdla\056) -266.008 (Automatic) -205.988 (Generator) ] TJ
19.9187 -10.959 Td
[ (of) -249.993 (Minimal) -250.002 (Problem) -250.019 (Solv) 15.0124 (ers\056) -359.988 (In) ] TJ
/R47 8.9664 Tf
117.414 0 Td
(ECCV) Tj
/R37 8.9664 Tf
22.9172 0 Td
[ (\054) -250 (2008\056) ] TJ
ET
Q
1 0 0 rg
q
10 0 0 10 0 0 cm
BT
/R37 8.9664 Tf
1 0 0 1 238.248 205.826 Tm
(5) Tj
ET
Q
0 g
q
10 0 0 10 0 0 cm
BT
/R37 8.9664 Tf
1 0 0 1 50.1121 193.798 Tm
[ (\13316\135) -556.01 (Z\056) -229.007 (K) 15.0205 (uk) 10.0194 (elo) 15.0205 (v) 25.0066 (a\054) -232.985 (J\056) -228.998 (Heller) 39.9931 (\054) -234.012 (and) -228.999 (A\056) -229.011 (Fitzgibbon\056) -315.019 (Ef) 24.9875 <026369656e74> -228.983 (Intersec\055) ] TJ
19.9187 -10.9594 Td
[ (tion) -200.993 (of) -200.982 (Three) -199.979 (Quadrics) -201.016 (and) -200.986 (Applications) -200.017 (in) -201.003 (Computer) -201.014 (V) 59.9787 (ision\056) ] TJ
10.959 TL
(In) '
/R47 8.9664 Tf
9.71094 0 Td
(CVPR) Tj
/R37 8.9664 Tf
22.4152 0 Td
[ (\054) -250 (2016\056) ] TJ
ET
Q
1 0 0 rg
q
10 0 0 10 0 0 cm
BT
/R37 8.9664 Tf
1 0 0 1 130.043 171.88 Tm
(2) Tj
ET
Q
0 g
q
10 0 0 10 0 0 cm
BT
/R37 8.9664 Tf
1 0 0 1 134.526 171.88 Tm
(\054) Tj
ET
Q
1 0 0 rg
q
10 0 0 10 0 0 cm
BT
/R37 8.9664 Tf
1 0 0 1 139.009 171.88 Tm
(4) Tj
ET
Q
0 g
q
10 0 0 10 0 0 cm
BT
/R37 8.9664 Tf
1 0 0 1 50.1121 159.851 Tm
[ (\13317\135) -556.01 (K\056) -2509.01 (Laurent\056) -7592 (Polyjam) -2509 (Softw) 9.9792 (are\056) ] TJ
19.9187 -10.9578 Td
[ (https\072\057\057github) 40.0148 (\056com\057laurentkneip\057polyjam\054) -250.008 (2015\056) ] TJ
ET
Q
1 0 0 rg
q
10 0 0 10 0 0 cm
BT
/R37 8.9664 Tf
1 0 0 1 242.275 148.893 Tm
(5) Tj
ET
Q
0 g
q
10 0 0 10 0 0 cm
BT
/R37 8.9664 Tf
1 0 0 1 50.1121 136.864 Tm
[ (\13318\135) -556.01 (Y) 128.988 (\056) -229.002 (Li\054) -234.008 (N\056) -230.014 (Sna) 19.9952 (v) 14.9865 (ely) 64.9901 (\054) -233.01 (D\056) -230.013 (P) 110.979 (\056) -230.004 (Huttenlocher) 39.9822 (\054) -233.01 (and) -230 (P) 110.98 (\056) -230.004 (Fua\056) -315 (W) 80.0106 (orldwide) ] TJ
19.9187 -10.959 Td
[ (Pose) -249.017 (Estimation) -248.995 (Using) -249.017 (3D) -248.986 (Point) -248.985 (Clouds\056) -357.016 (In) ] TJ
/R47 8.9664 Tf
158.833 0 Td
(ECCV) Tj
/R37 8.9664 Tf
22.9168 0 Td
[ (\054) -248.998 (2016\056) ] TJ
ET
Q
1 0 0 rg
q
10 0 0 10 0 0 cm
BT
/R37 8.9664 Tf
1 0 0 1 279.639 125.905 Tm
(1) Tj
ET
Q
0 g
q
10 0 0 10 0 0 cm
BT
/R37 8.9664 Tf
1 0 0 1 284.123 125.905 Tm
(\054) Tj
ET
Q
1 0 0 rg
q
10 0 0 10 0 0 cm
BT
/R37 8.9664 Tf
1 0 0 1 70.0309 114.946 Tm
(7) Tj
ET
Q
0 g
q
10 0 0 10 0 0 cm
BT
/R37 8.9664 Tf
1 0 0 1 50.1121 102.918 Tm
[ (\13319\135) -556.01 (S\056) -359.985 (Middelber) 18.0061 (g\054) -387.013 (T) 74.0122 (\056) -360.003 (Sattler) 39.9862 (\054) -388.015 (O\056) -360.012 (Untzelmann\054) -387.011 (and) -360 (L\056) -360.008 (K) 35.0157 (obbelt\056) ] TJ
19.9187 -10.959 Td
[ (Scalable) -257.99 (6\055DOF) -258.011 (Localization) -257.996 (on) -257.994 (Mobile) -257.992 (De) 25.0229 (vices\056) -384.99 (In) ] TJ
/R47 8.9664 Tf
191.171 0 Td
(ECCV) Tj
/R37 8.9664 Tf
22.918 0 Td
(\054) Tj
-214.089 -10.959 Td
(2014\056) Tj
ET
Q
1 0 0 rg
q
10 0 0 10 0 0 cm
BT
/R37 8.9664 Tf
1 0 0 1 93.4332 81.0004 Tm
(1) Tj
ET
Q
0 g
q
10 0 0 10 0 0 cm
BT
/R37 8.9664 Tf
1 0 0 1 308.862 710.037 Tm
[ (\13320\135) -556.012 (M\056) -236.013 (Muja) -237.001 (and) -237.015 (D\056) -236.985 (G\056) -236.985 (Lo) 25.0011 (we\056) -332.018 (F) 15.0028 (ast) -237.001 (Approximate) -236.99 (Nearest) -236.016 (Neigh\055) ] TJ
19.9191 -10.9578 Td
[ (bors) -306.014 (with) -306.997 (Automatic) -306.014 (Algorithm) -305.993 <436f6e026775726174696f6e2e> -541 (In) ] TJ
/R47 8.9664 Tf
184.707 0 Td
(VISAPP) Tj
/R37 8.9664 Tf
29.382 0 Td
(\054) Tj
-214.089 -10.959 Td
(2009\056) Tj
ET
Q
1 0 0 rg
q
10 0 0 10 0 0 cm
BT
/R37 8.9664 Tf
1 0 0 1 352.183 688.12 Tm
(7) Tj
ET
Q
0 g
q
10 0 0 10 0 0 cm
BT
/R37 8.9664 Tf
1 0 0 1 308.862 676.165 Tm
[ (\13321\135) -556.012 (R\056) -249.987 (Pl) 0.98567 (ess\056) -360.014 (Using) -250.019 (Man) 15.0137 (y) -249.978 (Cameras) -249.978 (as) -249.995 (One\056) -359.987 (In) ] TJ
/R47 8.9664 Tf
174.417 0 Td
(CVPR) Tj
/R37 8.9664 Tf
22.416 0 Td
[ (\054) -250 (2003\056) ] TJ
ET
Q
1 0 0 rg
q
10 0 0 10 0 0 cm
BT
/R37 8.9664 Tf
1 0 0 1 533.58 676.165 Tm
(5) Tj
ET
Q
0 g
q
10 0 0 10 0 0 cm
BT
/R37 8.9664 Tf
1 0 0 1 308.862 664.209 Tm
[ (\13322\135) -556.012 (T) 74.0122 (\056) -213.013 (Sattler) 39.9876 (\054) -219.984 (B\056) -214.002 (Leibe\054) -220.019 (and) -213.013 (L\056) -214.021 (K) 35.0157 (obbelt\056) -280.017 (Ef) 24.9848 <026369656e74> -212.991 (Ef) 24.9848 (fecti) 25.0174 (v) 14.9865 (e) -213.008 (Prior) 19.9965 (\055) ] TJ
19.9187 -10.959 Td
[ (itized) -313.987 (Matching) -312.99 (for) -314.003 (Lar) 17.998 (ge\055Scale) -312.99 (Image\055Based) -314.009 (Localization\056) ] TJ
/R47 8.9664 Tf
10.9582 TL
T*
[ (P) 90 (AMI) ] TJ
/R37 8.9664 Tf
20.6051 0 Td
[ (\054) -250 (39\0509\051\0721744\2261756\054) -249.978 (Sept) -250.017 (2017\056) ] TJ
ET
Q
1 0 0 rg
q
10 0 0 10 0 0 cm
BT
/R37 8.9664 Tf
1 0 0 1 462.201 642.292 Tm
(1) Tj
ET
Q
0 g
q
10 0 0 10 0 0 cm
BT
/R37 8.9664 Tf
1 0 0 1 466.684 642.292 Tm
(\054) Tj
ET
Q
1 0 0 rg
q
10 0 0 10 0 0 cm
BT
/R37 8.9664 Tf
1 0 0 1 471.168 642.292 Tm
(7) Tj
ET
Q
0 g
q
10 0 0 10 0 0 cm
BT
/R37 8.9664 Tf
1 0 0 1 308.862 630.336 Tm
[ (\13323\135) -556.012 (T) 74.0122 (\056) -218.982 (Sattler) 39.9876 (\054) -225.996 (W) 91.9911 (\056) -218.982 (Maddern\054) -226.001 (A\056) -218.992 (T) 79.9807 (orii\054) -225.99 (J\056) -219.02 (Si) 24.9902 (vic\054) -226.007 (T) 74.0122 (\056) -218.982 (P) 15.0028 (ajdla\054) -226.017 (M\056) -219.02 (Polle\055) ] TJ
19.9187 -10.959 Td
[ (fe) 14.9974 (ys\054) -321.009 (and) -306.981 (M\056) -306.981 (Okutomi\056) -543.005 (Benchmarking) -307.006 (6DOF) -307.006 (Urban) -307.006 (V) 59.9787 (isual) ] TJ
10.9582 TL
T*
[ (Localization) -436.005 (in) -436.997 (Changing) -436.003 (Conditions\056) ] TJ
/R47 8.9664 Tf
148.59 0 Td
(arXiv\0721707\05609092) Tj
/R37 8.9664 Tf
65.4988 0 Td
(\054) Tj
-214.089 -10.959 Td
(2017\056) Tj
ET
Q
1 0 0 rg
q
10 0 0 10 0 0 cm
BT
/R37 8.9664 Tf
1 0 0 1 352.183 597.46 Tm
(7) Tj
ET
Q
0 g
q
10 0 0 10 0 0 cm
BT
/R37 8.9664 Tf
1 0 0 1 356.666 597.46 Tm
(\054) Tj
ET
Q
1 0 0 rg
q
10 0 0 10 0 0 cm
BT
/R37 8.9664 Tf
1 0 0 1 361.15 597.46 Tm
(8) Tj
ET
Q
0 g
q
10 0 0 10 0 0 cm
BT
/R37 8.9664 Tf
1 0 0 1 308.862 585.504 Tm
[ (\13324\135) -556.012 (T) 74.0122 (\056) -291.997 (Sattler) 39.9876 (\054) -302.017 (C\056) -291.984 (Sweene) 14.9811 (y) 65 (\054) -303.019 (and) -291.997 (M\056) -291.992 (Pollefe) 15.0137 (ys\056) -494.005 (On) -291.986 (Sampling) -291.992 (F) 15.0028 (o\055) ] TJ
19.9187 -10.9578 Td
[ (cal) -326.986 (Length) -328.02 (V) 110.994 (alues) -326.983 (to) -327.996 (Solv) 15.0137 (e) -327.018 (the) -327.013 (Absolute) -328.009 (Pose) -326.997 (Problem\056) -608.021 (In) ] TJ
/R47 8.9664 Tf
10.959 TL
(ECCV) '
/R37 8.9664 Tf
22.918 0 Td
[ (\054) -250 (2014\056) ] TJ
ET
Q
1 0 0 rg
q
10 0 0 10 0 0 cm
BT
/R37 8.9664 Tf
1 0 0 1 379.584 563.587 Tm
(8) Tj
ET
Q
0 g
q
10 0 0 10 0 0 cm
BT
/R37 8.9664 Tf
1 0 0 1 308.862 551.632 Tm
[ (\13325\135) -556.012 (J\056) -263.979 (L\056) -264.992 (Sch) ] TJ
52.3148 0.04375 Td
(\250) Tj
-0.74883 -0.04375 Td
[ (onber) 18.0034 (ger) -264.998 (and) -264.984 (J\056\055M) 1.01834 (\056) -264.987 (Frahm\056) -407.015 (Structure\055From\055Motion) ] TJ
-31.6473 -10.959 Td
[ (Re) 25.0011 (visited\056) -359.992 (In) ] TJ
/R47 8.9664 Tf
48.8301 0 Td
(CVPR) Tj
/R37 8.9664 Tf
22.416 0 Td
[ (\054) -250 (June) -249.995 (2016\056) ] TJ
ET
Q
1 0 0 rg
q
10 0 0 10 0 0 cm
BT
/R37 8.9664 Tf
1 0 0 1 446.589 540.673 Tm
(1) Tj
ET
Q
0 g
q
10 0 0 10 0 0 cm
BT
/R37 8.9664 Tf
1 0 0 1 308.862 528.717 Tm
[ (\13326\135) -556.012 (H\056) -268.004 (Ste) 25.0147 (w) ] TJ
49.2488 0.04492 Td
(\264) Tj
-0.49688 -0.04492 Td
[ (enius\054) -273.008 (D\056) -269.006 (Nist) ] TJ
50.1879 0.04492 Td
(\264) Tj
-0.49688 -0.04492 Td
[ (er) 40.0039 (\054) -273.003 (M\056) -268.989 (Oskarsson\054) -272.992 (and) -268.995 (K\056) ] TJ
94.1879 1.39414 Td
<09> Tj
-1.73906 -1.39414 Td
(Astr) Tj
16.1879 0.04492 Td
(\250) Tj
-0.74766 -0.04492 Td
[ (om\056) -419.982 (So\055) ] TJ
-186.413 -10.959 Td
[ (lutions) -299.003 (to) -297.979 (Minimal) -299.011 (Generalized) -297.998 (Relati) 25.012 (v) 14.9865 (e) -299.006 (Pose) -297.982 (Problems\056) -516.005 (In) ] TJ
/R47 8.9664 Tf
10.9578 TL
(OMNIVIS) '
/R37 8.9664 Tf
35.8563 0 Td
[ (\054) -250 (2005\056) ] TJ
ET
Q
1 0 0 rg
q
10 0 0 10 0 0 cm
BT
/R37 8.9664 Tf
1 0 0 1 392.523 506.8 Tm
(2) Tj
ET
Q
0 g
q
10 0 0 10 0 0 cm
BT
/R37 8.9664 Tf
1 0 0 1 397.006 506.8 Tm
(\054) Tj
ET
Q
1 0 0 rg
q
10 0 0 10 0 0 cm
BT
/R37 8.9664 Tf
1 0 0 1 401.489 506.8 Tm
(4) Tj
ET
Q
0 g
q
10 0 0 10 0 0 cm
BT
/R37 8.9664 Tf
1 0 0 1 405.972 506.8 Tm
(\054) Tj
ET
Q
1 0 0 rg
q
10 0 0 10 0 0 cm
BT
/R37 8.9664 Tf
1 0 0 1 410.455 506.8 Tm
(5) Tj
ET
Q
0 g
q
10 0 0 10 0 0 cm
BT
/R37 8.9664 Tf
1 0 0 1 308.862 494.844 Tm
[ (\13327\135) -556.012 (L\056) -399 (Sv) ] TJ
41.191 0.04531 Td
(\250) Tj
-0.49727 -0.04531 Td
[ (arm\054) -437.007 (O\056) -400.007 (Enqvist\054) -438.012 (F) 80.0024 (\056) -399.996 (Kahl\054) -437.005 (and) -399.996 (M\056) -399.99 (Oskarsson\056) -839.996 (City\055) ] TJ
-20.775 -10.959 Td
[ (scale) -299.991 (Localization) -300.996 (for) -300.019 (Cameras) -300.993 (with) -299.986 (Kno) 24.9957 (wn) -301.004 (V) 110.994 (erti) 0.98567 (cal) -300.977 (Direc\055) ] TJ
10.9578 TL
(tion\056) '
/R47 8.9664 Tf
19.4211 0 Td
[ (P) 90 (AMI) ] TJ
/R37 8.9664 Tf
20.6051 0 Td
[ (\054) -250 (39\0507\051\0721455\2261461\054) -249.978 (2017\056) ] TJ
ET
Q
1 0 0 rg
q
10 0 0 10 0 0 cm
BT
/R37 8.9664 Tf
1 0 0 1 463.438 472.927 Tm
(1) Tj
ET
Q
0 g
q
10 0 0 10 0 0 cm
BT
/R37 8.9664 Tf
1 0 0 1 308.862 460.971 Tm
[ (\13328\135) -556.012 (C\056) -617.984 (Sweene) 14.9811 (y) 65 (\054) -710.007 (J\056) -617.992 (Flynn\054) -709.98 (B\056) -617.986 (Nuernber) 18.0034 (ger) 40.0039 (\054) -710.007 (M\056) -617.992 (T) 44.9976 (urk\054) -709.98 (and) ] TJ
19.9187 -10.959 Td
[ (T) 74.0122 (\056) -447.003 (H) ] TJ
18.2871 0.04492 Td
(\250) Tj
-0.74883 -0.04492 Td
[ (ollerer) 55.0177 (\056) -990.002 (Ef) 24.9875 <026369656e74> -446.981 (Computation) -446.998 (of) -446.998 (Absolute) -446.987 (Pose) -447.019 (for) ] TJ
-17.5383 -10.9582 Td
[ (Gra) 19.9965 (vity\055A) 92.0047 (w) 10.0092 (are) -249.987 (Augmented) -250.011 (Reality) 65 (\056) -360.003 (In) ] TJ
/R47 8.9664 Tf
140 0 Td
(ISMAR) Tj
/R37 8.9664 Tf
25.8953 0 Td
[ (\054) -250 (2015\056) ] TJ
ET
Q
1 0 0 rg
q
10 0 0 10 0 0 cm
BT
/R37 8.9664 Tf
1 0 0 1 522.562 439.054 Tm
(2) Tj
ET
Q
0 g
q
10 0 0 10 0 0 cm
BT
/R37 8.9664 Tf
1 0 0 1 527.045 439.054 Tm
(\054) Tj
ET
Q
1 0 0 rg
q
10 0 0 10 0 0 cm
BT
/R37 8.9664 Tf
1 0 0 1 531.528 439.054 Tm
(4) Tj
ET
Q
0 g
q
10 0 0 10 0 0 cm
BT
/R37 8.9664 Tf
1 0 0 1 308.862 427.098 Tm
[ (\13329\135) -556.012 (C\056) -194.005 (Sweene) 14.9811 (y) 65 (\054) -206 (J\056) -195.015 (Flynn\054) -206.015 (and) -194.019 (M\056) -195.015 (T) 44.9976 (urk\056) -239.996 (Solving) -195.01 (for) -194.982 (Relati) 25.012 (v) 14.9865 (e) -194.013 (Pose) ] TJ
19.9187 -10.959 Td
[ (W) 40.0176 (ith) -311.996 (a) -311.991 (P) 15.0056 (artially) -311.988 (Kno) 24.9957 (wn) -311.983 (Rotation) -312.996 (is) -312.005 (a) -311.988 (Quadratic) -311.994 (Eigen) 40.0203 (v) 25.0066 (alue) ] TJ
10.9582 TL
T*
[ (Problem\056) -360 (In) ] TJ
/R47 8.9664 Tf
45.5672 0 Td
[ (3D) 39.9822 (V) ] TJ
/R37 8.9664 Tf
16.077 0 Td
[ (\054) -250 (2014\056) ] TJ
ET
Q
1 0 0 rg
q
10 0 0 10 0 0 cm
BT
/R37 8.9664 Tf
1 0 0 1 418.311 405.181 Tm
(2) Tj
ET
Q
0 g
q
10 0 0 10 0 0 cm
BT
/R37 8.9664 Tf
1 0 0 1 422.794 405.181 Tm
(\054) Tj
ET
Q
1 0 0 rg
q
10 0 0 10 0 0 cm
BT
/R37 8.9664 Tf
1 0 0 1 427.277 405.181 Tm
(4) Tj
ET
Q
0 g
q
10 0 0 10 0 0 cm
BT
/R37 8.9664 Tf
1 0 0 1 431.76 405.181 Tm
(\054) Tj
ET
Q
1 0 0 rg
q
10 0 0 10 0 0 cm
BT
/R37 8.9664 Tf
1 0 0 1 436.243 405.181 Tm
(5) Tj
ET
Q
0 g
q
10 0 0 10 0 0 cm
BT
/R37 8.9664 Tf
1 0 0 1 308.862 393.225 Tm
[ (\13330\135) -556.012 (C\056) -325.006 (Sweene) 14.9811 (y) 65 (\054) -344.014 (L\056) -324.982 (Kneip\054) -343.993 (T) 74.0122 (\056) -325.02 (Hollerer) 39.9767 (\054) -344.014 (and) -325.02 (M\056) -325.014 (T) 44.9976 (urk\056) -600.021 (Comput\055) ] TJ
19.9187 -10.9582 Td
[ (ing) -222.001 (Similarity) -222.015 (T) 35.0212 (ransformations) -221.007 (from) -221.988 (Only) -222.009 (Image) -222.009 (Correspon\055) ] TJ
10.959 TL
T*
[ (dences\056) -360.011 (In) ] TJ
/R47 8.9664 Tf
39.577 0 Td
(CVPR) Tj
/R37 8.9664 Tf
22.416 0 Td
[ (\054) -250 (2015\056) ] TJ
ET
Q
1 0 0 rg
q
10 0 0 10 0 0 cm
BT
/R37 8.9664 Tf
1 0 0 1 418.659 371.308 Tm
(2) Tj
ET
Q
0 g
q
10 0 0 10 0 0 cm
BT
/R37 8.9664 Tf
1 0 0 1 423.143 371.308 Tm
(\054) Tj
ET
Q
1 0 0 rg
q
10 0 0 10 0 0 cm
BT
/R37 8.9664 Tf
1 0 0 1 427.626 371.308 Tm
(4) Tj
ET
Q
0 g
q
10 0 0 10 0 0 cm
BT
/R37 8.9664 Tf
1 0 0 1 432.109 371.308 Tm
(\054) Tj
ET
Q
1 0 0 rg
q
10 0 0 10 0 0 cm
BT
/R37 8.9664 Tf
1 0 0 1 436.592 371.308 Tm
(8) Tj
ET
Q
0 g
q
10 0 0 10 0 0 cm
BT
/R37 8.9664 Tf
1 0 0 1 308.862 359.352 Tm
[ (\13331\135) -556.012 (B\056) -302.004 (T) 35.0212 (riggs\056) -525.99 (Camera) -303.003 (pose) -302.012 (and) -302.017 (calibration) -301.985 (from) -302.017 (4) -301.996 (or) -302.012 (5) -301.996 (kno) 25.0066 (wn) ] TJ
19.9187 -10.9578 Td
[ (3d) -274.985 (points\056) -441.013 (In) ] TJ
/R47 8.9664 Tf
49.4832 0 Td
(ICCV) Tj
/R37 8.9664 Tf
20.4258 0 Td
[ (\054) -275.007 (v) 19.9965 (olume) -274.985 (1\054) -282.021 (pages) -275.018 (278\226284\056) -275.007 (IEEE\054) -274.99 (1999\056) ] TJ
ET
Q
1 0 0 rg
q
10 0 0 10 0 0 cm
BT
/R37 8.9664 Tf
1 0 0 1 328.781 337.436 Tm
(1) Tj
ET
Q
0 g
q
10 0 0 10 0 0 cm
BT
/R37 8.9664 Tf
1 0 0 1 333.264 337.436 Tm
(\054) Tj
ET
Q
1 0 0 rg
q
10 0 0 10 0 0 cm
BT
/R37 8.9664 Tf
1 0 0 1 337.747 337.436 Tm
(2) Tj
ET
Q
0 g
q
10 0 0 10 0 0 cm
BT
/R37 8.9664 Tf
1 0 0 1 308.862 325.479 Tm
[ (\13332\135) -556.012 (J\056) -384.002 (V) 110.994 (entura\054) -416.986 (C\056) -383.994 (Arth\054) -418.005 (G\056) -384.018 (Reitmayr) 39.9822 (\054) -416.986 (and) -384.007 (D\056) -384.018 (Schmalstie) 14.9865 (g\056) -788.992 (A) ] TJ
19.9187 -10.9578 Td
[ (minimal) -239.019 (solution) -240.016 (to) -238.992 (the) -239.011 (generalized) -240.007 (pose\055and\055scale) -239.016 (problem\056) ] TJ
10.959 TL
(In) '
/R47 8.9664 Tf
9.71094 0 Td
(CVPR) Tj
/R37 8.9664 Tf
22.4152 0 Td
[ (\054) -250 (2014\056) ] TJ
ET
Q
1 0 0 rg
q
10 0 0 10 0 0 cm
BT
/R37 8.9664 Tf
1 0 0 1 388.793 303.563 Tm
(2) Tj
ET
Q
0 g
q
10 0 0 10 0 0 cm
BT
/R37 8.9664 Tf
1 0 0 1 393.276 303.563 Tm
(\054) Tj
ET
Q
1 0 0 rg
q
10 0 0 10 0 0 cm
BT
/R37 8.9664 Tf
1 0 0 1 397.759 303.563 Tm
(4) Tj
ET
Q
0 g
q
10 0 0 10 0 0 cm
BT
/R37 8.9664 Tf
1 0 0 1 402.242 303.563 Tm
(\054) Tj
ET
Q
1 0 0 rg
q
10 0 0 10 0 0 cm
BT
/R37 8.9664 Tf
1 0 0 1 406.725 303.563 Tm
(6) Tj
ET
Q
0 g
q
10 0 0 10 0 0 cm
BT
/R37 8.9664 Tf
1 0 0 1 411.209 303.563 Tm
(\054) Tj
ET
Q
1 0 0 rg
q
10 0 0 10 0 0 cm
BT
/R37 8.9664 Tf
1 0 0 1 415.692 303.563 Tm
(8) Tj
ET
Q
0 g
q
10 0 0 10 0 0 cm
BT
/R37 8.9664 Tf
1 0 0 1 308.862 291.607 Tm
[ (\13333\135) -556.012 (J\056) -207.998 (V) 110.994 (entura\054) -217.021 (C\056) -207.989 (Arth\054) -216.994 (G\056) -208.014 (Reitmayr) 39.9822 (\054) -217.021 (and) -208.003 (D\056) -209.016 (Schmalstie) 14.9865 (g\056) -268.995 (Global) ] TJ
19.9187 -10.959 Td
[ (Localization) -419.015 (from) -419.99 (Monocular) -419.007 (SLAM) -419.007 (on) -419.012 (a) -419.987 (Mobile) -419.012 (Phone\056) ] TJ
/R47 8.9664 Tf
10.959 TL
T*
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trailer
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