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![PDF] Building facade detection, segmentation, and parameter estimation for mobile robot localization and guidance | Semantic Scholar](https://d3i71xaburhd42.cloudfront.net/649bfa1d897e8ac1f6ccd22b612e60dda1e78884/1-Figure1-1.png "PDF] Building facade detection, segmentation, and parameter estimation for mobile robot localization and guidance | Semantic Scholar")
PDF] Building facade detection, segmentation, and parameter estimation for mobile robot localization and guidance | Semantic Scholar
