The machine vision obstacle detection method and apparatus involves {HEAD ~ two phases} of {TAIL ~ operation}: training and run time 
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The machine vision obstacle detection method and apparatus involves { HEAD ~ two phases } of { TAIL ~ operation } : training and run time
OTH OTH OTH OTH OTH OTH OTH OTH OTH HEAD HEAD HEAD HEAD HEAD HEAD REL TAIL TAIL TAIL TAIL TAIL OTH OTH OTH OTH OTH