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| Author | Lorenzo Porzi; Markus Hofinger; Idoia Ruiz; Joan Serrat; Samuel Rota Bulo; Peter Kontschieder | ||||
| Title | Learning Multi-Object Tracking and Segmentation from Automatic Annotations | Type | Conference Article | ||
| Year | 2020 | Publication | 33rd IEEE Conference on Computer Vision and Pattern Recognition | Abbreviated Journal | |
| Volume | Issue | Pages | 6845-6854 | ||
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| Abstract | In this work we contribute a novel pipeline to automatically generate training data, and to improve over state-of-the-art multi-object tracking and segmentation (MOTS) methods. Our proposed track mining algorithm turns raw street-level videos into high-fidelity MOTS training data, is scalable and overcomes the need of expensive and time-consuming manual annotation approaches. We leverage state-of-the-art instance segmentation results in combination with optical flow predictions, also trained on automatically harvested training data. Our second major contribution is MOTSNet – a deep learning, tracking-by-detection architecture for MOTS – deploying a novel mask-pooling layer for improved object association over time. Training MOTSNet with our automatically extracted data leads to significantly improved sMOTSA scores on the novel KITTI MOTS dataset (+1.9%/+7.5% on cars/pedestrians), and MOTSNet improves by +4.1% over previously best methods on the MOTSChallenge dataset. Our most impressive finding is that we can improve over previous best-performing works, even in complete absence of manually annotated MOTS training data. | ||||
| Address | virtual; June 2020 | ||||
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| Area | Expedition | Conference | CVPR | ||
Notes  |
ADAS; 600.124; 600.118 | Approved | no | ||
| Call Number | Admin @ si @ PHR2020 | Serial | 3402 | ||
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| Author | Daniel Hernandez; Antonio Espinosa; David Vazquez; Antonio Lopez; Juan C. Moure | ||||
| Title | 3D Perception With Slanted Stixels on GPU | Type | Journal Article | ||
| Year | 2021 | Publication | IEEE Transactions on Parallel and Distributed Systems | Abbreviated Journal | TPDS |
| Volume | 32 | Issue | 10 | Pages | 2434-2447 |
| Keywords | Daniel Hernandez-Juarez; Antonio Espinosa; David Vazquez; Antonio M. Lopez; Juan C. Moure | ||||
| Abstract | This article presents a GPU-accelerated software design of the recently proposed model of Slanted Stixels, which represents the geometric and semantic information of a scene in a compact and accurate way. We reformulate the measurement depth model to reduce the computational complexity of the algorithm, relying on the confidence of the depth estimation and the identification of invalid values to handle outliers. The proposed massively parallel scheme and data layout for the irregular computation pattern that corresponds to a Dynamic Programming paradigm is described and carefully analyzed in performance terms. Performance is shown to scale gracefully on current generation embedded GPUs. We assess the proposed methods in terms of semantic and geometric accuracy as well as run-time performance on three publicly available benchmark datasets. Our approach achieves real-time performance with high accuracy for 2048 × 1024 image sizes and 4 × 4 Stixel resolution on the low-power embedded GPU of an NVIDIA Tegra Xavier. | ||||
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| Notes |
ADAS; 600.124; 600.118 | Approved | no | ||
| Call Number | Admin @ si @ HEV2021 | Serial | 3561 | ||
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| Author | Zhijie Fang; Antonio Lopez | ||||
| Title | Is the Pedestrian going to Cross? Answering by 2D Pose Estimation | Type | Conference Article | ||
| Year | 2018 | Publication | IEEE Intelligent Vehicles Symposium | Abbreviated Journal | |
| Volume | Issue | Pages | 1271 - 1276 | ||
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| Abstract | Our recent work suggests that, thanks to nowadays powerful CNNs, image-based 2D pose estimation is a promising cue for determining pedestrian intentions such as crossing the road in the path of the ego-vehicle, stopping before entering the road, and starting to walk or bending towards the road. This statement is based on the results obtained on non-naturalistic sequences (Daimler dataset), i.e. in sequences choreographed specifically for performing the study. Fortunately, a new publicly available dataset (JAAD) has appeared recently to allow developing methods for detecting pedestrian intentions in naturalistic driving conditions; more specifically, for addressing the relevant question is the pedestrian going to cross? Accordingly, in this paper we use JAAD to assess the usefulness of 2D pose estimation for answering such a question. We combine CNN-based pedestrian detection, tracking and pose estimation to predict the crossing action from monocular images. Overall, the proposed pipeline provides new state-ofthe-art results. | ||||
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| ISSN | ISBN | Medium | |||
| Area | Expedition | Conference | IV | ||
| Notes |
ADAS; 600.124; 600.116; 600.118 | Approved | no | ||
| Call Number | Admin @ si @ FaL2018 | Serial | 3181 | ||
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| Author | Jiaolong Xu; Peng Wang; Heng Yang; Antonio Lopez | ||||
| Title | Training a Binary Weight Object Detector by Knowledge Transfer for Autonomous Driving | Type | Conference Article | ||
| Year | 2019 | Publication | IEEE International Conference on Robotics and Automation | Abbreviated Journal | |
| Volume | Issue | Pages | 2379-2384 | ||
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| Abstract | Autonomous driving has harsh requirements of small model size and energy efficiency, in order to enable the embedded system to achieve real-time on-board object detection. Recent deep convolutional neural network based object detectors have achieved state-of-the-art accuracy. However, such models are trained with numerous parameters and their high computational costs and large storage prohibit the deployment to memory and computation resource limited systems. Low-precision neural networks are popular techniques for reducing the computation requirements and memory footprint. Among them, binary weight neural network (BWN) is the extreme case which quantizes the float-point into just bit. BWNs are difficult to train and suffer from accuracy deprecation due to the extreme low-bit representation. To address this problem, we propose a knowledge transfer (KT) method to aid the training of BWN using a full-precision teacher network. We built DarkNet-and MobileNet-based binary weight YOLO-v2 detectors and conduct experiments on KITTI benchmark for car, pedestrian and cyclist detection. The experimental results show that the proposed method maintains high detection accuracy while reducing the model size of DarkNet-YOLO from 257 MB to 8.8 MB and MobileNet-YOLO from 193 MB to 7.9 MB. | ||||
| Address | Montreal; Canada; May 2019 | ||||
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| Language | Summary Language | Original Title | |||
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| ISSN | ISBN | Medium | |||
| Area | Expedition | Conference | ICRA | ||
| Notes |
ADAS; 600.124; 600.116; 600.118 | Approved | no | ||
| Call Number | Admin @ si @ XWY2018 | Serial | 3182 | ||
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| Author | Akhil Gurram; Onay Urfalioglu; Ibrahim Halfaoui; Fahd Bouzaraa; Antonio Lopez | ||||
| Title | Monocular Depth Estimation by Learning from Heterogeneous Datasets | Type | Conference Article | ||
| Year | 2018 | Publication | IEEE Intelligent Vehicles Symposium | Abbreviated Journal | |
| Volume | Issue | Pages | 2176 - 2181 | ||
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| Abstract | Depth estimation provides essential information to perform autonomous driving and driver assistance. Especially, Monocular Depth Estimation is interesting from a practical point of view, since using a single camera is cheaper than many other options and avoids the need for continuous calibration strategies as required by stereo-vision approaches. State-of-the-art methods for Monocular Depth Estimation are based on Convolutional Neural Networks (CNNs). A promising line of work consists of introducing additional semantic information about the traffic scene when training CNNs for depth estimation. In practice, this means that the depth data used for CNN training is complemented with images having pixel-wise semantic labels, which usually are difficult to annotate (eg crowded urban images). Moreover, so far it is common practice to assume that the same raw training data is associated with both types of ground truth, ie, depth and semantic labels. The main contribution of this paper is to show that this hard constraint can be circumvented, ie, that we can train CNNs for depth estimation by leveraging the depth and semantic information coming from heterogeneous datasets. In order to illustrate the benefits of our approach, we combine KITTI depth and Cityscapes semantic segmentation datasets, outperforming state-of-the-art results on Monocular Depth Estimation. | ||||
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| ISSN | ISBN | Medium | |||
| Area | Expedition | Conference | IV | ||
| Notes |
ADAS; 600.124; 600.116; 600.118 | Approved | no | ||
| Call Number | Admin @ si @ GUH2018 | Serial | 3183 | ||
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| Author | Daniel Hernandez; Lukas Schneider; P. Cebrian; A. Espinosa; David Vazquez; Antonio Lopez; Uwe Franke; Marc Pollefeys; Juan Carlos Moure | ||||
| Title | Slanted Stixels: A way to represent steep streets | Type | Journal Article | ||
| Year | 2019 | Publication | International Journal of Computer Vision | Abbreviated Journal | IJCV |
| Volume | 127 | Issue | Pages | 1643–1658 | |
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| Abstract | This work presents and evaluates a novel compact scene representation based on Stixels that infers geometric and semantic information. Our approach overcomes the previous rather restrictive geometric assumptions for Stixels by introducing a novel depth model to account for non-flat roads and slanted objects. Both semantic and depth cues are used jointly to infer the scene representation in a sound global energy minimization formulation. Furthermore, a novel approximation scheme is introduced in order to significantly reduce the computational complexity of the Stixel algorithm, and then achieve real-time computation capabilities. The idea is to first perform an over-segmentation of the image, discarding the unlikely Stixel cuts, and apply the algorithm only on the remaining Stixel cuts. This work presents a novel over-segmentation strategy based on a fully convolutional network, which outperforms an approach based on using local extrema of the disparity map. We evaluate the proposed methods in terms of semantic and geometric accuracy as well as run-time on four publicly available benchmark datasets. Our approach maintains accuracy on flat road scene datasets while improving substantially on a novel non-flat road dataset. | ||||
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| Notes |
ADAS; 600.118; 600.124 | Approved | no | ||
| Call Number | Admin @ si @ HSC2019 | Serial | 3304 | ||
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| Author | Idoia Ruiz; Lorenzo Porzi; Samuel Rota Bulo; Peter Kontschieder; Joan Serrat | ||||
| Title | Weakly Supervised Multi-Object Tracking and Segmentation | Type | Conference Article | ||
| Year | 2021 | Publication | IEEE Winter Conference on Applications of Computer Vision Workshops | Abbreviated Journal | |
| Volume | Issue | Pages | 125-133 | ||
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| Abstract | We introduce the problem of weakly supervised MultiObject Tracking and Segmentation, i.e. joint weakly supervised instance segmentation and multi-object tracking, in which we do not provide any kind of mask annotation.
To address it, we design a novel synergistic training strategy by taking advantage of multi-task learning, i.e. classification and tracking tasks guide the training of the unsupervised instance segmentation. For that purpose, we extract weak foreground localization information, provided by Grad-CAM heatmaps, to generate a partial ground truth to learn from. Additionally, RGB image level information is employed to refine the mask prediction at the edges of the objects. We evaluate our method on KITTI MOTS, the most representative benchmark for this task, reducing the performance gap on the MOTSP metric between the fully supervised and weakly supervised approach to just 12% and 12.7 % for cars and pedestrians, respectively. |
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| Address | Virtual; January 2021 | ||||
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| ISSN | ISBN | Medium | |||
| Area | Expedition | Conference | WACVW | ||
| Notes |
ADAS; 600.118; 600.124 | Approved | no | ||
| Call Number | Admin @ si @ RPR2021 | Serial | 3548 | ||
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| Author | Idoia Ruiz; Joan Serrat | ||||
| Title | Rank-based ordinal classification | Type | Conference Article | ||
| Year | 2020 | Publication | 25th International Conference on Pattern Recognition | Abbreviated Journal | |
| Volume | Issue | Pages | 8069-8076 | ||
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| Abstract | Differently from the regular classification task, in ordinal classification there is an order in the classes. As a consequence not all classification errors matter the same: a predicted class close to the groundtruth one is better than predicting a farther away class. To account for this, most previous works employ loss functions based on the absolute difference between the predicted and groundtruth class labels. We argue that there are many cases in ordinal classification where label values are arbitrary (for instance 1. . . C, being C the number of classes) and thus such loss functions may not be the best choice. We instead propose a network architecture that produces not a single class prediction but an ordered vector, or ranking, of all the possible classes from most to least likely. This is thanks to a loss function that compares groundtruth and predicted rankings of these class labels, not the labels themselves. Another advantage of this new formulation is that we can enforce consistency in the predictions, namely, predicted rankings come from some unimodal vector of scores with mode at the groundtruth class. We compare with the state of the art ordinal classification methods, showing
that ours attains equal or better performance, as measured by common ordinal classification metrics, on three benchmark datasets. Furthermore, it is also suitable for a new task on image aesthetics assessment, i.e. most voted score prediction. Finally, we also apply it to building damage assessment from satellite images, providing an analysis of its performance depending on the degree of imbalance of the dataset. |
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| Address | Virtual; January 2021 | ||||
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| Language | Summary Language | Original Title | |||
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| ISSN | ISBN | Medium | |||
| Area | Expedition | Conference | ICPR | ||
| Notes |
ADAS; 600.118; 600.124 | Approved | no | ||
| Call Number | Admin @ si @ RuS2020 | Serial | 3549 | ||
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| Author | Katerine Diaz; Jesus Martinez del Rincon; Aura Hernandez-Sabate | ||||
| Title | Decremental generalized discriminative common vectors applied to images classification | Type | Journal Article | ||
| Year | 2017 | Publication | Knowledge-Based Systems | Abbreviated Journal | KBS |
| Volume | 131 | Issue | Pages | 46-57 | |
| Keywords | Decremental learning; Generalized Discriminative Common Vectors; Feature extraction; Linear subspace methods; Classification | ||||
| Abstract | In this paper, a novel decremental subspace-based learning method called Decremental Generalized Discriminative Common Vectors method (DGDCV) is presented. The method makes use of the concept of decremental learning, which we introduce in the field of supervised feature extraction and classification. By efficiently removing unnecessary data and/or classes for a knowledge base, our methodology is able to update the model without recalculating the full projection or accessing to the previously processed training data, while retaining the previously acquired knowledge. The proposed method has been validated in 6 standard face recognition datasets, showing a considerable computational gain without compromising the accuracy of the model. | ||||
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| Notes |
ADAS; 600.118; 600.121 | Approved | no | ||
| Call Number | Admin @ si @ DMH2017a | Serial | 3003 | ||
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| Author | Daniel Hernandez; Antonio Espinosa; David Vazquez; Antonio Lopez; Juan Carlos Moure | ||||
| Title | GPU-accelerated real-time stixel computation | Type | Conference Article | ||
| Year | 2017 | Publication | IEEE Winter Conference on Applications of Computer Vision | Abbreviated Journal | |
| Volume | Issue | Pages | 1054-1062 | ||
| Keywords | Autonomous Driving; GPU; Stixel | ||||
| Abstract | The Stixel World is a medium-level, compact representation of road scenes that abstracts millions of disparity pixels into hundreds or thousands of stixels. The goal of this work is to implement and evaluate a complete multi-stixel estimation pipeline on an embedded, energyefficient, GPU-accelerated device. This work presents a full GPU-accelerated implementation of stixel estimation that produces reliable results at 26 frames per second (real-time) on the Tegra X1 for disparity images of 1024×440 pixels and stixel widths of 5 pixels, and achieves more than 400 frames per second on a high-end Titan X GPU card. | ||||
| Address | Santa Rosa; CA; USA; March 2017 | ||||
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| Area | Expedition | Conference | WACV | ||
| Notes |
ADAS; 600.118 | Approved | no | ||
| Call Number | ADAS @ adas @ HEV2017b | Serial | 2812 | ||
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| Author | Daniel Hernandez; Lukas Schneider; Antonio Espinosa; David Vazquez; Antonio Lopez; Uwe Franke; Marc Pollefeys; Juan C. Moure | ||||
| Title | Slanted Stixels: Representing San Francisco's Steepest Streets} | Type | Conference Article | ||
| Year | 2017 | Publication | 28th British Machine Vision Conference | Abbreviated Journal | |
| Volume | Issue | Pages | |||
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| Abstract | In this work we present a novel compact scene representation based on Stixels that infers geometric and semantic information. Our approach overcomes the previous rather restrictive geometric assumptions for Stixels by introducing a novel depth model to account for non-flat roads and slanted objects. Both semantic and depth cues are used jointly to infer the scene representation in a sound global energy minimization formulation. Furthermore, a novel approximation scheme is introduced that uses an extremely efficient over-segmentation. In doing so, the computational complexity of the Stixel inference algorithm is reduced significantly, achieving real-time computation capabilities with only a slight drop in accuracy. We evaluate the proposed approach in terms of semantic and geometric accuracy as well as run-time on four publicly available benchmark datasets. Our approach maintains accuracy on flat road scene datasets while improving substantially on a novel non-flat road dataset. | ||||
| Address | London; uk; September 2017 | ||||
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| Area | Expedition | Conference | BMVC | ||
| Notes |
ADAS; 600.118 | Approved | no | ||
| Call Number | ADAS @ adas @ HSE2017a | Serial | 2945 | ||
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| Author | Daniel Hernandez; Antonio Espinosa; David Vazquez; Antonio Lopez; Juan Carlos Moure | ||||
| Title | Embedded Real-time Stixel Computation | Type | Conference Article | ||
| Year | 2017 | Publication | GPU Technology Conference | Abbreviated Journal | |
| Volume | Issue | Pages | |||
| Keywords | GPU; CUDA; Stixels; Autonomous Driving | ||||
| Abstract | |||||
| Address | Silicon Valley; USA; May 2017 | ||||
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| Area | Expedition | Conference | GTC | ||
| Notes |
ADAS; 600.118 | Approved | no | ||
| Call Number | ADAS @ adas @ HEV2017a | Serial | 2879 | ||
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| Author | David Geronimo; David Vazquez; Arturo de la Escalera | ||||
| Title | Vision-Based Advanced Driver Assistance Systems | Type | Book Chapter | ||
| Year | 2017 | Publication | Computer Vision in Vehicle Technology: Land, Sea, and Air | Abbreviated Journal | |
| Volume | Issue | Pages | |||
| Keywords | ADAS; Autonomous Driving | ||||
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ADAS; 600.118 | Approved | no | ||
| Call Number | ADAS @ adas @ GVE2017 | Serial | 2881 | ||
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| Author | Victor Vaquero; German Ros; Francesc Moreno-Noguer; Antonio Lopez; Alberto Sanfeliu | ||||
| Title | Joint coarse-and-fine reasoning for deep optical flow | Type | Conference Article | ||
| Year | 2017 | Publication | 24th International Conference on Image Processing | Abbreviated Journal | |
| Volume | Issue | Pages | 2558-2562 | ||
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| Abstract | We propose a novel representation for dense pixel-wise estimation tasks using CNNs that boosts accuracy and reduces training time, by explicitly exploiting joint coarse-and-fine reasoning. The coarse reasoning is performed over a discrete classification space to obtain a general rough solution, while the fine details of the solution are obtained over a continuous regression space. In our approach both components are jointly estimated, which proved to be beneficial for improving estimation accuracy. Additionally, we propose a new network architecture, which combines coarse and fine components by treating the fine estimation as a refinement built on top of the coarse solution, and therefore adding details to the general prediction. We apply our approach to the challenging problem of optical flow estimation and empirically validate it against state-of-the-art CNN-based solutions trained from scratch and tested on large optical flow datasets. | ||||
| Address | Beijing; China; September 2017 | ||||
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| Area | Expedition | Conference | ICIP | ||
| Notes |
ADAS; 600.118 | Approved | no | ||
| Call Number | Admin @ si @ VRM2017 | Serial | 2898 | ||
| Permanent link to this record | |||||
| Author | Antonio Lopez; Atsushi Imiya; Tomas Pajdla; Jose Manuel Alvarez | ||||
| Title | Computer Vision in Vehicle Technology: Land, Sea & Air | Type | Book Whole | ||
| Year | 2017 | Publication | Abbreviated Journal | ||
| Volume | Issue | Pages | 161-163 | ||
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| Abstract | Summary This chapter examines different vision-based commercial solutions for real-live problems related to vehicles. It is worth mentioning the recent astonishing performance of deep convolutional neural networks (DCNNs) in difficult visual tasks such as image classification, object recognition/localization/detection, and semantic segmentation. In fact,
different DCNN architectures are already being explored for low-level tasks such as optical flow and disparity computation, and higher level ones such as place recognition. |
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| Publisher | John Wiley & Sons, Ltd | Place of Publication | Editor | ||
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| Series Volume | Series Issue | Edition | |||
| ISSN | ISBN | 978-1-118-86807-2 | Medium | ||
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| Notes |
ADAS; 600.118 | Approved | no | ||
| Call Number | Admin @ si @ LIP2017a | Serial | 2937 | ||
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