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AcknowledgementsFruitful discussions and encouraging support from H. Schwegler is acknowledged. Image data is supplied by Gerard Medioni, USC Institute for Robotics and Intelligent Systems (Image 3B), the Kiel Cognitive Systems Group, G. Sommer, Christian-Albrechts-University of Kiel (Fig 4), by the Max-Planck-Institute for Biological Cybernetics, AG Bülthoff, (Fig 5B), and Bob Bolles, AIC, SRI International (Fig 5C).
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