This is a video going into depth regarding how this implementation of Semantic Light works.
Semantic Light: Building Blocks was a thesis at the University of Maryland, Baltimore County by Charles Lohr, Chaired by Dr. Zary Segall with a Committee including Dr. Marc Olano and Dr. Yelena Yesha.
The paper and associated code can be accessed at http://cnlohr.net/projects/semanticlight/
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