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The problem posed by complex, articulated or deformable objects has been at the focus of much tracking research for a considerable length of time. However, it remains a major challenge, fraught with numerous difficulties. The increased ubiquity of technology in all realms of our society has made the need for effective solutions all the more urgent. In this article, we describe a novel method which systematically addresses the aforementioned difficulties and in practice outperforms the state of the art. Global spatial flexibility and robus
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