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This paper was reprinted from 11th International Conference on Control, Automation, Robotics and Vision (ICARCV 2010) pp. 839-843, and may be found http://dx.doi.org/10.1109/ICARCV.2010.5707970 access via this link is only available with a subscription. A full text version is available above.
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11th International Conference on Control, Automation, Robotics and Vision (ICARCV 2010), pp. 839-843