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Iteration 0: initialization with the candidate o-space centres {O} coincident with the transitional segment of each individual {C}. Iteration 1: first graph-cuts run; easy groups are correctly clustered while the most complex still present errors (the FCG formed by P 7 and P 20 violates the visibility constraint). Iteration 2: the second graph-cuts run correctly detects the O 7,8,9 F-formation (at the bottom). Se text for more details.
