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Estimating the Reach of a Manifold

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Figure 1: Geometric interpretation of quantities involved in (2.3).
Figure 2: A narrow bottleneck structure yields a small reach τ M .
Figure 3: The different ways for the reach to be attained, as described in Lemma 3.2 and Lemma 3.3.
Figure 4: Hypotheses of Proposition 5.5.
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