Localization

0 1 +2

0 +1

0 1 2 +3

0 1 2 3 4 +5

0 1 +2

0 1 2 3 4 5 6 +7

0 1 2 3 4 5 6 +7

0 1 +2

0 1 +2

0 1 2 +3