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/downstream navigation, manual/autonomous drive, and drone turning, that represent a ground truth for validation purposes. Finally, the real-world nature of the dataset makes it more challenging for machine learning methods because it contains noisy samples collected while the drone was exposed to atmospheric agents and uncertain water flow conditions. © 2020 The Author(s).Lignocellulosic biomass can provide a consistent and sustainable source of bioenergy. Degraded empty fruit bunch (DEF from oil palm is a suitable candidate for biof

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