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![PDF] Environment Mapping using the Lego Mindstorms NXT and leJOS NXJ | Semantic Scholar](https://d3i71xaburhd42.cloudfront.net/e52b1be8131807e79ff731d62a060ea06a65b02d/2-Figure1-1.png "PDF] Environment Mapping using the Lego Mindstorms NXT and leJOS NXJ | Semantic Scholar")
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