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0 01 02 03 04 05 06 07 08 09 088 09 092 094 096 098 1 FABMAP FABMAP 3D with Delaunay Tessellation FABMAP 3D with Complete Graph Evaluation 0 50 100 150 200 250 1000

0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 0.88 0.9 0.92 0.94 0.96 0.98 1 FAB-MAP FAB-MAP with Delaunay Tessellation FAB-MAP

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