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1Department of Mechanical Engineering, Graduate School of Science and Engineering, Kagoshima University, 1-21-40, Korimoto, Kagoshima, Kagoshima 890-0065, Japan 2Department of Integrated Information Technology, Graduate School of Science and Engineering, Aoyama Gakuin University, 5-10-1 Fuchinobe, Chuo, Sagamihara, Kanagawa 252-5258, Japan 3Department of Architecture & Architectural Engineering, Graduate School of Science and Engineering, Kagoshima University, 1-21-40, Korimoto, Kagoshima, Kagoshima 890-0065, Japan

Image-retrieval Method Using Gradient Dilation Images for Cloud-based Positioning System with 3D Wireframe Map