diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/13c3e046d7.json b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/13c3e046d7.json
new file mode 100644
index 0000000000000000000000000000000000000000..b69c199e23b450b2fc467352d4d866d115d55e2c
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/13c3e046d7.json	
@@ -0,0 +1,558 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "bucket": [
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+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      1.3,
+      2.39
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.3,
+      0.27
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+    "first visible time": 10.33
+   }
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+  "ceiling light": [
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+      -1.29,
+      0.57
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.14,
+      0.21
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+      ],
+      [
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.33
+   },
+   {
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+      -1.36,
+      1.74
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.08,
+      0.28
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.0
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+      [
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+       1.0
+      ]
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+   },
+   {
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+      -1.41,
+      1.49
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.12,
+      0.19
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.5
+   }
+  ],
+  "door": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      0.6,
+      2.82
+     ],
+     "3D oriented bounding box dimensions": [
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+      1.3,
+      0.54
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   }
+  ],
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+      0.06,
+      1.72
+     ],
+     "3D oriented bounding box dimensions": [
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+      1.2,
+      1.55
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.25,
+       0.0
+      ],
+      [
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+       0.97,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.33
+   }
+  ],
+  "trash can": [
+   {
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+     "3D oriented bounding box center coordinates": [
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+      1.3,
+      2.44
+     ],
+     "3D oriented bounding box dimensions": [
+      0.41,
+      0.3,
+      0.37
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.99,
+       0.0
+      ],
+      [
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+       0.14,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 10.33
+   }
+  ],
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+      0.03
+     ],
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+      3.15,
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+     ],
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+       1.0
+      ]
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+   },
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+      0.25,
+      2.17
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.03,
+      0.29
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.99,
+       0.0
+      ],
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+       0.12,
+       0.0
+      ],
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+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.17
+   },
+   {
+    "3D oriented bounding box": {
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+      0.05,
+      2.39
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.02,
+      0.2
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.99,
+       0.0
+      ],
+      [
+       -0.99,
+       0.12,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      0.01,
+      2.19
+     ],
+     "3D oriented bounding box dimensions": [
+      0.3,
+      0.03,
+      0.21
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.12,
+       0.99,
+       0.0
+      ],
+      [
+       -0.99,
+       0.12,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.17
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
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+      -1.37
+     ],
+     [
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+      -1.37
+     ],
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+      -1.47
+     ],
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+     ],
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+     ],
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+     ],
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+     ],
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+      0.03
+     ],
+     [
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+      0.23
+     ],
+     [
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+      0.33
+     ],
+     [
+      3.55,
+      0.33
+     ],
+     [
+      3.45,
+      0.43
+     ],
+     [
+      3.45,
+      0.63
+     ],
+     [
+      3.35,
+      0.73
+     ],
+     [
+      3.25,
+      0.73
+     ],
+     [
+      3.05,
+      0.93
+     ],
+     [
+      3.05,
+      1.33
+     ],
+     [
+      1.55,
+      1.33
+     ],
+     [
+      1.45,
+      1.43
+     ],
+     [
+      1.45,
+      1.63
+     ],
+     [
+      -1.95,
+      1.63
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/21d970d8de.json b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/21d970d8de.json
new file mode 100644
index 0000000000000000000000000000000000000000..da8584c3a7dda2b716c2901442d77bb7ff32d5f6
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/21d970d8de.json	
@@ -0,0 +1,1166 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "ceiling light": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      -1.26,
+      0.93
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.03,
+      0.29
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.04,
+       0.0
+      ],
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+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.33
+   },
+   {
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+      -1.32,
+      3.48
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.14,
+      0.47
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       1.0,
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+      ],
+      [
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.5
+   },
+   {
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+      1.06,
+      -0.91,
+      4.87
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.12,
+      0.51
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.95,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 9.83
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      3.71,
+      -1.36,
+      6.01
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.01,
+      0.29
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.04,
+       0.0
+      ],
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+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.83
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.82,
+      -1.11,
+      6.02
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.01,
+      0.43
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.04,
+       0.0
+      ],
+      [
+       0.04,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 7.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.9,
+      -1.28,
+      6.02
+     ],
+     "3D oriented bounding box dimensions": [
+      1.13,
+      0.02,
+      0.36
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       1.0,
+       -0.03,
+       0.0
+      ],
+      [
+       0.03,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.83
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      -1.4,
+      0.92
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.01,
+      0.26
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.04,
+       0.0
+      ],
+      [
+       0.04,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.5
+   }
+  ],
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      0.84,
+      3.6
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.81,
+      0.51
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       1.0,
+       -0.04,
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+      ],
+      [
+       0.04,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.13,
+      1.08,
+      2.34
+     ],
+     "3D oriented bounding box dimensions": [
+      0.52,
+      0.77,
+      0.53
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       1.0,
+       -0.09,
+       0.0
+      ],
+      [
+       0.09,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      3.67,
+      0.7,
+      1.35
+     ],
+     "3D oriented bounding box dimensions": [
+      0.46,
+      0.39,
+      1.07
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.99,
+       -0.12,
+       0.0
+      ],
+      [
+       0.12,
+       0.99,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      3.82,
+      0.63,
+      1.23
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.47,
+      0.39
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+      ],
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+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.83
+   },
+   {
+    "3D oriented bounding box": {
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+      1.3,
+      6.33
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.52,
+      1.07
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+      ],
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+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.67
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.76,
+      0.73,
+      6.42
+     ],
+     "3D oriented bounding box dimensions": [
+      0.25,
+      0.18,
+      0.45
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       -0.04,
+       0.0
+      ],
+      [
+       0.04,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 8.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.44,
+      0.91,
+      6.22
+     ],
+     "3D oriented bounding box dimensions": [
+      0.2,
+      0.08,
+      0.36
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.18,
+       0.0
+      ],
+      [
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+       0.98,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 9.83
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.75,
+      0.45,
+      7.33
+     ],
+     "3D oriented bounding box dimensions": [
+      0.12,
+      0.14,
+      0.01
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       -0.02,
+       0.0
+      ],
+      [
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+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 10.33
+   }
+  ],
+  "clock": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.4,
+      -1.11,
+      -0.03
+     ],
+     "3D oriented bounding box dimensions": [
+      0.32,
+      0.29,
+      0.03
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
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+       0.82,
+       0.0
+      ],
+      [
+       -0.82,
+       0.57,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.5
+   }
+  ],
+  "crate": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.05,
+      1.45,
+      0.56
+     ],
+     "3D oriented bounding box dimensions": [
+      0.31,
+      0.22,
+      0.1
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
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+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       0.06,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 8.5
+   }
+  ],
+  "door": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.68,
+      0.62,
+      -0.02
+     ],
+     "3D oriented bounding box dimensions": [
+      2.02,
+      0.92,
+      0.06
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       0.08,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.67,
+      0.52,
+      -0.03
+     ],
+     "3D oriented bounding box dimensions": [
+      2.03,
+      0.98,
+      0.06
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       0.09,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.68,
+      0.85,
+      -0.03
+     ],
+     "3D oriented bounding box dimensions": [
+      1.64,
+      1.33,
+      0.02
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.58,
+       0.82,
+       0.0
+      ],
+      [
+       -0.82,
+       -0.58,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.17
+   }
+  ],
+  "exhaust fan": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.66,
+      -1.21,
+      3.45
+     ],
+     "3D oriented bounding box dimensions": [
+      0.54,
+      0.12,
+      2.48
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       0.02,
+       0.0
+      ],
+      [
+       -0.02,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 7.5
+   }
+  ],
+  "power strip": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.97,
+      0.79,
+      7.07
+     ],
+     "3D oriented bounding box dimensions": [
+      0.36,
+      0.06,
+      0.21
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.98,
+       0.22,
+       0.0
+      ],
+      [
+       -0.22,
+       0.98,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 5.83
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.54,
+      0.83,
+      2.77
+     ],
+     "3D oriented bounding box dimensions": [
+      0.45,
+      0.32,
+      2.26
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       -0.04,
+       0.0
+      ],
+      [
+       0.04,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   }
+  ],
+  "telephone": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.28,
+      0.78,
+      7.09
+     ],
+     "3D oriented bounding box dimensions": [
+      0.79,
+      0.09,
+      0.17
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       0.0,
+       0.0
+      ],
+      [
+       0.0,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.67
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.09,
+      0.75,
+      7.06
+     ],
+     "3D oriented bounding box dimensions": [
+      0.89,
+      0.1,
+      0.18
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       0.06,
+       0.0
+      ],
+      [
+       -0.06,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.5
+   }
+  ],
+  "trash can": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.01,
+      1.41,
+      0.45
+     ],
+     "3D oriented bounding box dimensions": [
+      0.38,
+      0.26,
+      0.27
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.49,
+       0.87,
+       0.0
+      ],
+      [
+       -0.87,
+       0.49,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.04,
+      1.44,
+      0.45
+     ],
+     "3D oriented bounding box dimensions": [
+      0.29,
+      0.36,
+      0.41
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
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+       0.99,
+       0.0
+      ],
+      [
+       -0.99,
+       0.14,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   }
+  ],
+  "tv": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.47,
+      -0.08,
+      1.85
+     ],
+     "3D oriented bounding box dimensions": [
+      0.65,
+      0.04,
+      1.23
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.05,
+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       0.05,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.54,
+      0.17,
+      7.12
+     ],
+     "3D oriented bounding box dimensions": [
+      1.44,
+      1.69,
+      0.26
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       0.08,
+       0.0
+      ],
+      [
+       -0.08,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 9.67
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.54,
+      -0.03,
+      7.31
+     ],
+     "3D oriented bounding box dimensions": [
+      0.4,
+      0.32,
+      0.02
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.68,
+       0.73,
+       0.0
+      ],
+      [
+       -0.73,
+       0.68,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 10.33
+   }
+  ],
+  "whiteboard": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.93,
+      0.15,
+      -0.01
+     ],
+     "3D oriented bounding box dimensions": [
+      1.99,
+      1.31,
+      1.85
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       -0.01,
+       0.0
+      ],
+      [
+       0.01,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.35,
+      0.02,
+      5.42
+     ],
+     "3D oriented bounding box dimensions": [
+      0.22,
+      1.47,
+      1.75
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       -0.05,
+       0.0
+      ],
+      [
+       0.05,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.17
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -2.71,
+      -1.83
+     ],
+     [
+      4.79,
+      -1.83
+     ],
+     [
+      4.79,
+      1.67
+     ],
+     [
+      -2.71,
+      1.67
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/3e8bba0176.json b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/3e8bba0176.json
new file mode 100644
index 0000000000000000000000000000000000000000..f52e37cf7cc19afa573bba1ee3e04eb9a2fa3296
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/3e8bba0176.json	
@@ -0,0 +1,1956 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "ceiling light": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.26,
+      1.57,
+      2.28
+     ],
+     "3D oriented bounding box dimensions": [
+      0.29,
+      0.29,
+      1.39
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.41,
+       0.91,
+       0.0
+      ],
+      [
+       -0.91,
+       -0.41,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.83
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.42,
+      0.59,
+      0.03
+     ],
+     "3D oriented bounding box dimensions": [
+      0.08,
+      0.03,
+      0.0
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.01,
+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       0.01,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 8.67
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.23,
+      -1.12,
+      1.48
+     ],
+     "3D oriented bounding box dimensions": [
+      0.15,
+      0.01,
+      0.09
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.09,
+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       -0.09,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 9.17
+   }
+  ],
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.16,
+      2.21,
+      0.46
+     ],
+     "3D oriented bounding box dimensions": [
+      1.05,
+      0.64,
+      0.49
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.86,
+       0.5,
+       0.0
+      ],
+      [
+       -0.5,
+       0.86,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.74,
+      1.27,
+      2.29
+     ],
+     "3D oriented bounding box dimensions": [
+      0.63,
+      1.06,
+      0.48
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.86,
+       -0.51,
+       0.0
+      ],
+      [
+       0.51,
+       0.86,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.55,
+      0.51,
+      3.13
+     ],
+     "3D oriented bounding box dimensions": [
+      0.67,
+      1.12,
+      0.51
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.78,
+       0.62,
+       0.0
+      ],
+      [
+       -0.62,
+       0.78,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.83
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.85,
+      1.59,
+      1.92
+     ],
+     "3D oriented bounding box dimensions": [
+      0.61,
+      0.37,
+      0.2
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.44,
+       0.9,
+       0.0
+      ],
+      [
+       -0.9,
+       -0.44,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.83
+   }
+  ],
+  "computer mouse": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.01,
+      2.11,
+      1.5
+     ],
+     "3D oriented bounding box dimensions": [
+      0.09,
+      0.01,
+      0.11
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.47,
+       0.88,
+       0.0
+      ],
+      [
+       -0.88,
+       -0.47,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.83
+   }
+  ],
+  "cup": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.17,
+      2.29,
+      1.43
+     ],
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+     "3D oriented bounding box center coordinates": [
+      1.07,
+      0.33,
+      3.23
+     ],
+     "3D oriented bounding box dimensions": [
+      0.27,
+      0.38,
+      0.28
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.74,
+       0.67,
+       0.0
+      ],
+      [
+       -0.67,
+       0.74,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 9.83
+   }
+  ],
+  "tv": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.93,
+      1.44,
+      1.98
+     ],
+     "3D oriented bounding box dimensions": [
+      0.74,
+      0.37,
+      0.12
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.58,
+       0.81,
+       0.0
+      ],
+      [
+       -0.81,
+       -0.58,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.83
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.17,
+      2.79,
+      1.18
+     ],
+     "3D oriented bounding box dimensions": [
+      1.19,
+      0.71,
+      1.63
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.99,
+       0.11,
+       0.0
+      ],
+      [
+       -0.11,
+       0.99,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.64,
+      0.99,
+      2.15
+     ],
+     "3D oriented bounding box dimensions": [
+      0.64,
+      0.44,
+      0.34
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.22,
+       0.97,
+       0.0
+      ],
+      [
+       -0.97,
+       -0.22,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.83
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.18,
+      1.77,
+      1.57
+     ],
+     "3D oriented bounding box dimensions": [
+      0.59,
+      0.35,
+      0.23
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.48,
+       0.87,
+       0.0
+      ],
+      [
+       -0.87,
+       -0.48,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.83
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.93,
+      1.45,
+      1.97
+     ],
+     "3D oriented bounding box dimensions": [
+      1.03,
+      0.45,
+      0.41
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.68,
+       0.74,
+       0.0
+      ],
+      [
+       -0.74,
+       -0.68,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 7.17
+   }
+  ],
+  "whiteboard": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.87,
+      0.72,
+      2.82
+     ],
+     "3D oriented bounding box dimensions": [
+      2.31,
+      1.08,
+      0.07
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.62,
+       0.79,
+       0.0
+      ],
+      [
+       -0.79,
+       -0.62,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.28,
+      2.72,
+      1.39
+     ],
+     "3D oriented bounding box dimensions": [
+      0.68,
+      0.07,
+      0.95
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.76,
+       0.65,
+       0.0
+      ],
+      [
+       -0.65,
+       0.76,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.17
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -3.18,
+      0.25
+     ],
+     [
+      -2.98,
+      0.25
+     ],
+     [
+      -2.68,
+      -0.05
+     ],
+     [
+      -2.38,
+      -0.05
+     ],
+     [
+      -2.28,
+      -0.15
+     ],
+     [
+      -2.28,
+      -0.25
+     ],
+     [
+      -2.08,
+      -0.45
+     ],
+     [
+      -2.08,
+      -0.55
+     ],
+     [
+      -1.98,
+      -0.65
+     ],
+     [
+      -1.98,
+      -1.05
+     ],
+     [
+      -1.88,
+      -1.15
+     ],
+     [
+      -1.88,
+      -1.25
+     ],
+     [
+      -1.68,
+      -1.45
+     ],
+     [
+      -1.68,
+      -1.55
+     ],
+     [
+      -1.28,
+      -1.95
+     ],
+     [
+      -1.28,
+      -2.15
+     ],
+     [
+      -0.38,
+      -2.15
+     ],
+     [
+      -0.38,
+      -1.95
+     ],
+     [
+      -0.18,
+      -1.75
+     ],
+     [
+      -0.08,
+      -1.75
+     ],
+     [
+      0.12,
+      -1.55
+     ],
+     [
+      0.22,
+      -1.55
+     ],
+     [
+      0.42,
+      -1.35
+     ],
+     [
+      0.52,
+      -1.35
+     ],
+     [
+      0.72,
+      -1.15
+     ],
+     [
+      0.82,
+      -1.15
+     ],
+     [
+      1.12,
+      -0.85
+     ],
+     [
+      1.22,
+      -0.85
+     ],
+     [
+      1.52,
+      -0.55
+     ],
+     [
+      1.72,
+      -0.55
+     ],
+     [
+      1.72,
+      0.15
+     ],
+     [
+      1.52,
+      0.15
+     ],
+     [
+      1.32,
+      0.35
+     ],
+     [
+      1.32,
+      0.45
+     ],
+     [
+      1.12,
+      0.65
+     ],
+     [
+      1.12,
+      0.75
+     ],
+     [
+      0.82,
+      1.05
+     ],
+     [
+      0.82,
+      1.15
+     ],
+     [
+      0.62,
+      1.35
+     ],
+     [
+      0.62,
+      1.45
+     ],
+     [
+      0.22,
+      1.85
+     ],
+     [
+      0.22,
+      1.95
+     ],
+     [
+      -0.08,
+      2.25
+     ],
+     [
+      -0.08,
+      2.35
+     ],
+     [
+      -0.28,
+      2.55
+     ],
+     [
+      -0.28,
+      2.65
+     ],
+     [
+      -0.48,
+      2.85
+     ],
+     [
+      -0.48,
+      2.95
+     ],
+     [
+      -0.68,
+      3.15
+     ],
+     [
+      -0.98,
+      3.15
+     ],
+     [
+      -1.08,
+      3.25
+     ],
+     [
+      -1.08,
+      3.45
+     ],
+     [
+      -1.38,
+      3.45
+     ],
+     [
+      -1.38,
+      3.25
+     ],
+     [
+      -1.48,
+      3.15
+     ],
+     [
+      -2.08,
+      3.15
+     ],
+     [
+      -2.18,
+      3.05
+     ],
+     [
+      -2.28,
+      3.05
+     ],
+     [
+      -2.48,
+      2.85
+     ],
+     [
+      -2.58,
+      2.85
+     ],
+     [
+      -2.88,
+      2.55
+     ],
+     [
+      -3.18,
+      2.55
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/3f15a9266d.json b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/3f15a9266d.json
new file mode 100644
index 0000000000000000000000000000000000000000..f92709b9b7e262b967161bb619fda47b492ba763
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/3f15a9266d.json	
@@ -0,0 +1,1200 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "bookshelf": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.06,
+      2.03,
+      0.36
+     ],
+     "3D oriented bounding box dimensions": [
+      0.94,
+      0.31,
+      1.85
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.21,
+       0.98,
+       0.0
+      ],
+      [
+       -0.98,
+       -0.21,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.67
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.84,
+      2.1,
+      0.23
+     ],
+     "3D oriented bounding box dimensions": [
+      0.94,
+      0.32,
+      1.35
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.98,
+       0.17,
+       0.0
+      ],
+      [
+       -0.17,
+       0.98,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 7.67
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.6,
+      2.16,
+      0.54
+     ],
+     "3D oriented bounding box dimensions": [
+      0.85,
+      0.33,
+      1.53
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.98,
+       0.21,
+       0.0
+      ],
+      [
+       -0.21,
+       0.98,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.67
+   }
+  ],
+  "bucket": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.4,
+      1.64,
+      1.09
+     ],
+     "3D oriented bounding box dimensions": [
+      0.08,
+      0.06,
+      0.2
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.77,
+       0.64,
+       0.0
+      ],
+      [
+       -0.64,
+       0.77,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.17
+   }
+  ],
+  "ceiling light": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.03,
+      -0.4,
+      1.97
+     ],
+     "3D oriented bounding box dimensions": [
+      1.19,
+      0.54,
+      0.03
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.99,
+       -0.14,
+       0.0
+      ],
+      [
+       0.14,
+       0.99,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.17
+   }
+  ],
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.14,
+      1.1,
+      0.09
+     ],
+     "3D oriented bounding box dimensions": [
+      0.54,
+      0.54,
+      0.97
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.99,
+       -0.17,
+       0.0
+      ],
+      [
+       0.17,
+       0.99,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.56,
+      -0.03,
+      0.18
+     ],
+     "3D oriented bounding box dimensions": [
+      0.6,
+      0.61,
+      1.15
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.92,
+       -0.39,
+       0.0
+      ],
+      [
+       0.39,
+       0.92,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.77,
+      0.98,
+      0.09
+     ],
+     "3D oriented bounding box dimensions": [
+      0.51,
+      0.46,
+      0.74
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.96,
+       0.3,
+       0.0
+      ],
+      [
+       -0.3,
+       0.96,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.83
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.56,
+      1.61,
+      0.0
+     ],
+     "3D oriented bounding box dimensions": [
+      0.5,
+      0.5,
+      0.76
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.09,
+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       0.09,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.17
+   }
+  ],
+  "clock": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.42,
+      0.44,
+      1.55
+     ],
+     "3D oriented bounding box dimensions": [
+      0.24,
+      0.02,
+      0.29
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.11,
+       0.99,
+       0.0
+      ],
+      [
+       -0.99,
+       -0.11,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 5.0
+   }
+  ],
+  "computer mouse": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.8,
+      -0.68,
+      0.34
+     ],
+     "3D oriented bounding box dimensions": [
+      0.11,
+      0.06,
+      0.01
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.52,
+       0.86,
+       0.0
+      ],
+      [
+       -0.86,
+       0.52,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.5
+   }
+  ],
+  "crate": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.87,
+      0.21,
+      -0.3
+     ],
+     "3D oriented bounding box dimensions": [
+      0.29,
+      0.39,
+      0.22
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.27,
+       0.96,
+       0.0
+      ],
+      [
+       -0.96,
+       -0.27,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.5
+   }
+  ],
+  "cup": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.19,
+      -0.03,
+      0.37
+     ],
+     "3D oriented bounding box dimensions": [
+      0.07,
+      0.09,
+      0.09
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.35,
+       0.94,
+       0.0
+      ],
+      [
+       -0.94,
+       0.35,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.5
+   }
+  ],
+  "cushion": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.06,
+      1.09,
+      0.04
+     ],
+     "3D oriented bounding box dimensions": [
+      0.56,
+      0.48,
+      0.06
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.63,
+       0.78,
+       0.0
+      ],
+      [
+       -0.78,
+       -0.63,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.44,
+      -0.05,
+      0.07
+     ],
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+      2.42,
+      0.49
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+     "3D oriented bounding box dimensions": [
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+      0.92,
+      0.67
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+     "3D oriented bounding box dimensions": [
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+      0.44
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+     "3D oriented bounding box orientation unit vectors": [
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+      0.24,
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+       0.0,
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+      -0.25
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+       0.0,
+       1.0
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+      -0.9,
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+     "3D oriented bounding box dimensions": [
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+      0.05,
+      0.33
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+       0.0,
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+      -0.77,
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+     "3D oriented bounding box dimensions": [
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.0,
+       1.0
+      ]
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+    },
+    "first visible time": 0.5
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+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      0.39,
+      0.27
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.4,
+      0.03
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.99,
+       0.0
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+      [
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+       -0.15,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
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+   },
+   {
+    "3D oriented bounding box": {
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+      -0.31,
+      0.27
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.23,
+      0.04
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.0,
+       1.0
+      ]
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+    "first visible time": 5.33
+   }
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+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      -0.74,
+      0.43
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.45,
+      0.23
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+      ],
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 9.83
+   }
+  ],
+  "telephone": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      -1.04,
+      0.36
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.16,
+      0.07
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.89,
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+       -0.89,
+       -0.46,
+       0.0
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+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 5.0
+   }
+  ],
+  "trash can": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      1.4,
+      -0.22
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.26,
+      0.32
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.34,
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+       0.94,
+       0.0
+      ],
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.83
+   }
+  ],
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+      -0.9,
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+     ],
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+      0.05,
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+       0.0
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+       0.0,
+       1.0
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+   },
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+      -0.77,
+      0.76
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.05,
+      0.33
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.47,
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+       0.88,
+       0.0
+      ],
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+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      -0.47,
+      0.86
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.12
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.99,
+       0.0
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+       -0.13,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 9.67
+   }
+  ],
+  "whiteboard": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      0.14,
+      0.83
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.04,
+      1.09
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.99,
+       0.0
+      ],
+      [
+       -0.99,
+       -0.16,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 6.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.51,
+      0.2,
+      0.75
+     ],
+     "3D oriented bounding box dimensions": [
+      2.65,
+      0.04,
+      1.07
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.15,
+       0.99,
+       0.0
+      ],
+      [
+       -0.99,
+       -0.15,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -1.85,
+      -0.6
+     ],
+     [
+      -1.65,
+      -0.6
+     ],
+     [
+      -1.55,
+      -0.7
+     ],
+     [
+      -1.55,
+      -1.4
+     ],
+     [
+      1.65,
+      -1.4
+     ],
+     [
+      1.65,
+      1.2
+     ],
+     [
+      1.45,
+      1.2
+     ],
+     [
+      1.35,
+      1.3
+     ],
+     [
+      1.35,
+      2.0
+     ],
+     [
+      1.25,
+      2.1
+     ],
+     [
+      1.25,
+      2.6
+     ],
+     [
+      -0.75,
+      2.6
+     ],
+     [
+      -0.75,
+      2.4
+     ],
+     [
+      -0.85,
+      2.3
+     ],
+     [
+      -1.35,
+      2.3
+     ],
+     [
+      -1.45,
+      2.2
+     ],
+     [
+      -1.85,
+      2.2
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/41125731.json b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/41125731.json
new file mode 100644
index 0000000000000000000000000000000000000000..3b723961424cf1a8dd32ebacf03c89e6c26b61e8
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/41125731.json	
@@ -0,0 +1,292 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "bed": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.49,
+      0.24,
+      -0.09
+     ],
+     "3D oriented bounding box dimensions": [
+      2.17,
+      1.42,
+      1.11
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.98,
+       0.19,
+       0.0
+      ],
+      [
+       -0.19,
+       0.98,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.5
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -3.02,
+      -1.0
+     ],
+     [
+      -1.32,
+      -1.0
+     ],
+     [
+      -1.22,
+      -1.1
+     ],
+     [
+      -1.22,
+      -1.2
+     ],
+     [
+      -1.02,
+      -1.4
+     ],
+     [
+      -1.02,
+      -2.1
+     ],
+     [
+      -1.12,
+      -2.2
+     ],
+     [
+      -1.12,
+      -2.6
+     ],
+     [
+      -1.22,
+      -2.7
+     ],
+     [
+      -1.32,
+      -2.7
+     ],
+     [
+      -1.32,
+      -3.1
+     ],
+     [
+      0.38,
+      -3.1
+     ],
+     [
+      0.38,
+      -2.8
+     ],
+     [
+      0.28,
+      -2.7
+     ],
+     [
+      0.28,
+      -2.0
+     ],
+     [
+      0.38,
+      -1.9
+     ],
+     [
+      1.08,
+      -1.9
+     ],
+     [
+      1.18,
+      -1.8
+     ],
+     [
+      1.88,
+      -1.8
+     ],
+     [
+      1.98,
+      -1.7
+     ],
+     [
+      2.28,
+      -1.7
+     ],
+     [
+      2.38,
+      -1.6
+     ],
+     [
+      2.38,
+      -1.5
+     ],
+     [
+      2.48,
+      -1.4
+     ],
+     [
+      2.48,
+      -1.1
+     ],
+     [
+      2.58,
+      -1.0
+     ],
+     [
+      2.88,
+      -1.0
+     ],
+     [
+      2.88,
+      1.6
+     ],
+     [
+      2.68,
+      1.6
+     ],
+     [
+      2.58,
+      1.7
+     ],
+     [
+      2.58,
+      2.1
+     ],
+     [
+      -1.12,
+      2.1
+     ],
+     [
+      -1.12,
+      1.9
+     ],
+     [
+      -1.22,
+      1.8
+     ],
+     [
+      -1.72,
+      1.8
+     ],
+     [
+      -1.82,
+      1.7
+     ],
+     [
+      -2.52,
+      1.7
+     ],
+     [
+      -2.62,
+      1.6
+     ],
+     [
+      -3.02,
+      1.6
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/41142280.json b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/41142280.json
new file mode 100644
index 0000000000000000000000000000000000000000..b4ad519014d0d30cafc78a55da3898b2700ef75a
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/41142280.json	
@@ -0,0 +1,218 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "bathtub": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.2,
+      0.77,
+      -1.37
+     ],
+     "3D oriented bounding box dimensions": [
+      1.19,
+      0.89,
+      1.28
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.03,
+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       -0.03,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.5
+   },
+   {
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+     "3D oriented bounding box center coordinates": [
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+      0.46,
+      -0.75
+     ],
+     "3D oriented bounding box dimensions": [
+      0.54,
+      0.03,
+      1.35
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       1.0,
+       -0.03,
+       0.0
+      ],
+      [
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+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.17
+   }
+  ],
+  "toilet": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.25,
+      -0.18,
+      -0.4
+     ],
+     "3D oriented bounding box dimensions": [
+      0.76,
+      0.34,
+      0.61
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       1.0,
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+       0.0
+      ],
+      [
+       0.06,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.17
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -0.67,
+      -1.11
+     ],
+     [
+      1.93,
+      -1.11
+     ],
+     [
+      1.93,
+      1.29
+     ],
+     [
+      -0.67,
+      1.29
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/41159541.json b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/41159541.json
new file mode 100644
index 0000000000000000000000000000000000000000..a9d8acc590650bd4c058be33fdf4f5b635c89283
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/41159541.json	
@@ -0,0 +1,972 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "bed": [
+   {
+    "3D oriented bounding box": {
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+      -2.33,
+      -0.16
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+      0.99,
+      0.37
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+       0.0
+      ],
+      [
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+       0.0,
+       1.0
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+    "first visible time": 8.5
+   }
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+      0.35,
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+       0.0,
+       1.0
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+       1.0
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+       0.0,
+       1.0
+      ]
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+   },
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+      -3.28,
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+      0.71,
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+      ],
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+       0.0,
+       1.0
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+   },
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+      0.09
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+       0.0,
+       1.0
+      ]
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+   },
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+       1.0
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+      ],
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+       0.0,
+       1.0
+      ]
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+   },
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+      -2.61,
+      0.06
+     ],
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+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+      ],
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+       0.0,
+       1.0
+      ]
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+   }
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+      -0.07,
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+     ],
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+       0.0,
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+     ],
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+      ]
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+   },
+   {
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+      2.03,
+      -0.14
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.23,
+      0.49
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+      ]
+     ]
+    },
+    "first visible time": 7.5
+   }
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+      -0.59,
+      0.03
+     ],
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+      0.29,
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+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       1.0,
+       0.0
+      ],
+      [
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+       -0.05,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 7.33
+   }
+  ],
+  "table": [
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+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      -0.71,
+      -0.11
+     ],
+     "3D oriented bounding box dimensions": [
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+      1.2,
+      0.82
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.48,
+       0.0
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+      [
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+       0.88,
+       0.0
+      ],
+      [
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+       0.0,
+       1.0
+      ]
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+   },
+   {
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+      -1.12,
+      -0.53
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.26,
+      0.38
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.0
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+   },
+   {
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+      0.27,
+      -0.45
+     ],
+     "3D oriented bounding box dimensions": [
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+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.0
+      ],
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+      ]
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+   },
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+      1.27,
+      -0.49
+     ],
+     "3D oriented bounding box dimensions": [
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+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+      ]
+     ]
+    },
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+   }
+  ],
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+      0.19,
+      0.16
+     ],
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.67
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
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+      -4.34
+     ],
+     [
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+     ],
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+     ],
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+     ],
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+     ],
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+     ],
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+     ],
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+     ],
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+     ],
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+     ],
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+     ],
+     [
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+      -1.64
+     ],
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+      3.1,
+      -1.34
+     ],
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+     ],
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+     ],
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+     ],
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+     ],
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+     ],
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+     ],
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+     ],
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+     ],
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+     ],
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+     ],
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+     ],
+     [
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+     ],
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+      1.96
+     ],
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+     ],
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+     ],
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+     ],
+     [
+      -1.7,
+      1.56
+     ],
+     [
+      -2.0,
+      1.56
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/41254432.json b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/41254432.json
new file mode 100644
index 0000000000000000000000000000000000000000..51bceaf73c0544bbbfcf3bc35835b290086b9c49
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/41254432.json	
@@ -0,0 +1,985 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
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+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
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+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
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+        [
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+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
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+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
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+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
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+     ],
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+     ],
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+     ],
+     [
+      -1.56,
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+     ],
+     [
+      -1.96,
+      3.56
+     ],
+     [
+      -1.96,
+      3.46
+     ],
+     [
+      -2.06,
+      3.36
+     ],
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+      3.36
+     ],
+     [
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+      3.26
+     ],
+     [
+      -2.56,
+      3.26
+     ],
+     [
+      -2.66,
+      3.16
+     ],
+     [
+      -2.76,
+      3.16
+     ],
+     [
+      -2.86,
+      3.06
+     ],
+     [
+      -2.86,
+      2.86
+     ],
+     [
+      -3.06,
+      2.66
+     ],
+     [
+      -3.16,
+      2.66
+     ],
+     [
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+      2.46
+     ],
+     [
+      -3.46,
+      2.46
+     ],
+     [
+      -3.56,
+      2.36
+     ],
+     [
+      -3.86,
+      2.36
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/42444976.json b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/42444976.json
new file mode 100644
index 0000000000000000000000000000000000000000..4ff08d35706f3c4d251a59dcba84c964d8a1d1f0
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/42444976.json	
@@ -0,0 +1,596 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.1,
+      -1.09,
+      -1.84
+     ],
+     "3D oriented bounding box dimensions": [
+      0.77,
+      0.26,
+      0.44
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
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+       0.04,
+       0.0
+      ],
+      [
+       -0.04,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 6.17
+   },
+   {
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+       0.0,
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+       1.0
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+      0.16
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+     "3D oriented bounding box dimensions": [
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+      0.07,
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.0,
+       1.0
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+    },
+    "first visible time": 0.5
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+      -1.27
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+       0.0,
+       1.0
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+      -1.82
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+     "3D oriented bounding box dimensions": [
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+       0.0,
+       1.0
+      ]
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+    },
+    "first visible time": 0.17
+   }
+  ]
+ },
+ "room": {
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+      -2.25
+     ],
+     [
+      -1.66,
+      -2.25
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+     [
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+     ],
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+     ],
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+     [
+      -1.66,
+      -0.25
+     ],
+     [
+      -1.86,
+      -0.25
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/42445026.json b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/42445026.json
new file mode 100644
index 0000000000000000000000000000000000000000..3287a034ab04a56923ff6b20fb64bf1112cdd31f
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/42445026.json	
@@ -0,0 +1,402 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
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+    "3D oriented bounding box": {
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+      -0.59,
+      1.41
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+      0.28,
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+       1.0
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+      -1.32,
+      2.05
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+     "3D oriented bounding box dimensions": [
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+      0.48,
+      0.46
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+       0.0,
+       1.0
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+      1.72
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+       0.0,
+       1.0
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+    "first visible time": 4.33
+   }
+  ],
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+      0.06,
+      -0.03
+     ],
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+      0.58,
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.25,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.33
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
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+      -1.87
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+      1.33
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+      1.33
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+      1.43
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+      1.63
+     ],
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+      -1.04,
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+     ],
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+      -1.04,
+      1.43
+     ],
+     [
+      -1.14,
+      1.33
+     ],
+     [
+      -1.34,
+      1.33
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/42445031.json b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/42445031.json
new file mode 100644
index 0000000000000000000000000000000000000000..3d0ed696f4e1904a6bc4f953216f740daad9d153
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/42445031.json	
@@ -0,0 +1,476 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "bed": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      0.68,
+      -0.03
+     ],
+     "3D oriented bounding box dimensions": [
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+      1.45,
+      0.35
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+   },
+   {
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+      0.33
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+     "3D oriented bounding box dimensions": [
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+      0.42,
+      0.53
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.0,
+       1.0
+      ]
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+    "first visible time": 3.5
+   }
+  ],
+  "table": [
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+      -0.17
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+     "3D oriented bounding box orientation unit vectors": [
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+    "first visible time": 3.17
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+     "3D oriented bounding box center coordinates": [
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+      -1.71,
+      -0.02
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.61,
+      0.64
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.74,
+       0.0
+      ],
+      [
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+       -0.67,
+       0.0
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+      [
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 9.17
+   }
+  ],
+  "tv": [
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+     "3D oriented bounding box center coordinates": [
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+      -0.32,
+      0.89
+     ],
+     "3D oriented bounding box dimensions": [
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+     "3D oriented bounding box orientation unit vectors": [
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+   {
+    "3D oriented bounding box": {
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+     "3D oriented bounding box dimensions": [
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+      0.16,
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+     "3D oriented bounding box orientation unit vectors": [
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+   }
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+ "room": {
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+     ],
+     [
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+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/42445981.json b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/42445981.json
new file mode 100644
index 0000000000000000000000000000000000000000..5a9977a94c9dcae6901a5b0151543191c27b3744
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/42445981.json	
@@ -0,0 +1,808 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      -1.53,
+      -0.13
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.38,
+      0.87
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.0
+      ],
+      [
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+       0.0,
+       1.0
+      ]
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+   },
+   {
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+      -0.15
+     ],
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+      0.29,
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+   },
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+       0.0,
+       1.0
+      ]
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+    },
+    "first visible time": 4.0
+   },
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+      -2.52,
+      -0.24
+     ],
+     "3D oriented bounding box dimensions": [
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+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+      ],
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+       0.0
+      ],
+      [
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      -1.54,
+      -0.39
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.12,
+      0.57
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.79,
+       0.0
+      ],
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+       0.61,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 8.67
+   }
+  ],
+  "sofa": [
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+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      -1.17,
+      -0.2
+     ],
+     "3D oriented bounding box dimensions": [
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+      1.67,
+      0.83
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+      ],
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+       0.0,
+       1.0
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+    "first visible time": 0.5
+   },
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+      -2.03,
+      -0.27
+     ],
+     "3D oriented bounding box dimensions": [
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+      1.11,
+      0.86
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.65,
+       0.0
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+       0.0
+      ],
+      [
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.33
+   }
+  ],
+  "stool": [
+   {
+    "3D oriented bounding box": {
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+      -1.04,
+      -0.64
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.04,
+      0.2
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.76,
+       0.0
+      ],
+      [
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+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 5.5
+   }
+  ],
+  "table": [
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+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      -2.21,
+      -0.04
+     ],
+     "3D oriented bounding box dimensions": [
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+      1.32,
+      0.89
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.42,
+       0.0
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+      [
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+       0.0
+      ],
+      [
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+       0.0,
+       1.0
+      ]
+     ]
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+    "first visible time": 0.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      -1.62,
+      -0.46
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.36,
+      0.43
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.95,
+       0.0
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+      ],
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+      ]
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+    "first visible time": 8.67
+   },
+   {
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+      -0.52
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.61,
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+     "3D oriented bounding box orientation unit vectors": [
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+    },
+    "first visible time": 2.33
+   }
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+     ],
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+   }
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+ "room": {
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+     ],
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+     ],
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+     ],
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+     ],
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+     ],
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+      0.62
+     ],
+     [
+      -1.05,
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+     ],
+     [
+      -1.25,
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+     ],
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+     ],
+     [
+      -1.35,
+      0.22
+     ],
+     [
+      -1.45,
+      0.12
+     ],
+     [
+      -1.75,
+      0.12
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/42446517.json b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/42446517.json
new file mode 100644
index 0000000000000000000000000000000000000000..f539dba7a0201340517f10ff6c3131f3a37529e7
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/42446517.json	
@@ -0,0 +1,466 @@
+{
+ "spatial code schema": {
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+        "dimension 2",
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+       "unit": "meters",
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+         "y",
+         "height"
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+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
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+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
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+        "y"
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+       [
+        "x",
+        "y"
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+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
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+        [
+         "x",
+         "y"
+        ],
+        [
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+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
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+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/42446535.json b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/42446535.json
new file mode 100644
index 0000000000000000000000000000000000000000..c18cbf92c78ac252f0c0060331d3aff846411fbb
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/42446535.json	
@@ -0,0 +1,252 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
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+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "bathtub": [
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+    "3D oriented bounding box": {
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+      0.17,
+      0.45
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+       1.0
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+       1.0
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+ "room": {
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+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/42897550.json b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/42897550.json
new file mode 100644
index 0000000000000000000000000000000000000000..ddc23e33c0d5d54474ca1a21660780737ed1d7dc
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/42897550.json	
@@ -0,0 +1,286 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
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+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
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+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
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+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
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+  "toilet": [
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+      0.22,
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+      0.31,
+      0.36
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+       1.0
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+    },
+    "first visible time": 3.0
+   }
+  ],
+  "washer": [
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+   }
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+ "room": {
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+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/42897629.json b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/42897629.json
new file mode 100644
index 0000000000000000000000000000000000000000..59c9b5d31a97822a1dcef49fdca26320265f7564
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/42897629.json	
@@ -0,0 +1,1228 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      -1.77,
+      -0.33
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.95
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.0
+      ],
+      [
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      -1.47,
+      -0.32
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.57,
+      0.97
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+     "3D oriented bounding box orientation unit vectors": [
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+      [
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+       0.0
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+      [
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+       1.0
+      ]
+     ]
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+   },
+   {
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+      -1.66,
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+     "3D oriented bounding box orientation unit vectors": [
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+      [
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 9.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      -0.32,
+      -0.4
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.51,
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+     "3D oriented bounding box orientation unit vectors": [
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+      [
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 7.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      -2.33,
+      -0.37
+     ],
+     "3D oriented bounding box dimensions": [
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+      1.05,
+      0.85
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.0
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+       0.0
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+      [
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      -0.79,
+      -0.34
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.51,
+      0.96
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.0
+      ],
+      [
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 7.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      -2.46,
+      -0.17
+     ],
+     "3D oriented bounding box dimensions": [
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+     "3D oriented bounding box orientation unit vectors": [
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+      [
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 8.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      -2.73,
+      -0.13
+     ],
+     "3D oriented bounding box dimensions": [
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+      6.03,
+      0.88
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+     "3D oriented bounding box orientation unit vectors": [
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+       -0.48,
+       0.0
+      ],
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+       0.0
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+      [
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 7.0
+   }
+  ],
+  "refrigerator": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      -4.19,
+      -0.36
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.76,
+      1.24
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.72,
+       0.0
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+      [
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+       0.0
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+      [
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.62,
+      -3.75,
+      -0.19
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.11,
+      1.78
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.0
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+      [
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.5
+   }
+  ],
+  "sofa": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -4.75,
+      0.35,
+      -0.41
+     ],
+     "3D oriented bounding box dimensions": [
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+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+      [
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 9.0
+   }
+  ],
+  "stool": [
+   {
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+      -1.67,
+      -0.32
+     ],
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+     "3D oriented bounding box orientation unit vectors": [
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+  "stove": [
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+     ]
+    },
+    "first visible time": 4.17
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+  ],
+  "table": [
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+     ],
+     [
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+     [
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+     [
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+     [
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+     ],
+     [
+      -5.92,
+      -4.65
+     ],
+     [
+      -6.22,
+      -4.95
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/42897692.json b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/42897692.json
new file mode 100644
index 0000000000000000000000000000000000000000..afa5282aac631c21d76c0a894cc261de8d1a4ef6
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/42897692.json	
@@ -0,0 +1,790 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
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+      0.95,
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+     [
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+     [
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+     ],
+     [
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+      1.41
+     ],
+     [
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+      1.31
+     ],
+     [
+      -1.97,
+      1.21
+     ],
+     [
+      -1.77,
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+     [
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+     ],
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+     ],
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+     ],
+     [
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+      -1.99
+     ],
+     [
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+      -2.09
+     ],
+     [
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+      -2.09
+     ],
+     [
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+      -2.29
+     ],
+     [
+      -2.67,
+      -2.29
+     ],
+     [
+      -2.77,
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+     ],
+     [
+      -2.87,
+      -2.39
+     ],
+     [
+      -3.07,
+      -2.59
+     ],
+     [
+      -3.17,
+      -2.59
+     ],
+     [
+      -3.27,
+      -2.69
+     ],
+     [
+      -3.37,
+      -2.69
+     ],
+     [
+      -3.57,
+      -2.89
+     ],
+     [
+      -3.67,
+      -2.89
+     ],
+     [
+      -3.77,
+      -2.99
+     ],
+     [
+      -3.97,
+      -2.99
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/42898486.json b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/42898486.json
new file mode 100644
index 0000000000000000000000000000000000000000..e216dee12b86d63b6601c5788528c7e4b1275b0d
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/42898486.json	
@@ -0,0 +1,854 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "bed": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      5.34,
+      -3.72,
+      0.28
+     ],
+     "3D oriented bounding box dimensions": [
+      0.58,
+      0.28,
+      1.18
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.95,
+       -0.32,
+       0.0
+      ],
+      [
+       0.32,
+       0.95,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 8.0
+   }
+  ],
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      0.41,
+      -0.05
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.51,
+      0.92
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.03,
+       0.0
+      ],
+      [
+       0.03,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.5
+   },
+   {
+    "3D oriented bounding box": {
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+      1.23,
+      0.01
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.43,
+      0.86
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.0
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+       0.2,
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 7.83
+   }
+  ],
+  "fireplace": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      2.02,
+      -0.06
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.04,
+      0.66
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
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+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/42898826.json b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/42898826.json
new file mode 100644
index 0000000000000000000000000000000000000000..b007c9e7a0753b1b4eef29199dac37200da0b3d6
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/42898826.json	
@@ -0,0 +1,290 @@
+{
+ "spatial code schema": {
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+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
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+         "y",
+         "height"
+        ],
+        [
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+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
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+       [
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+       [
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+        "y"
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+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
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+        [
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+         "y"
+        ],
+        [
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+         "y"
+        ]
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+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
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+ },
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+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/42899612.json b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/42899612.json
new file mode 100644
index 0000000000000000000000000000000000000000..366f54b2dfef5268dfef3937d39f426f92d9b272
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/42899612.json	
@@ -0,0 +1,652 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
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+         "height"
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+        [
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+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
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+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
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+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
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+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
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+  ],
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.08,
+      -0.59,
+      0.08
+     ],
+     "3D oriented bounding box dimensions": [
+      1.6,
+      0.67,
+      0.76
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.92,
+       0.38,
+       0.0
+      ],
+      [
+       -0.38,
+       0.92,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 6.83
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.48,
+      -0.81,
+      0.14
+     ],
+     "3D oriented bounding box dimensions": [
+      0.76,
+      0.94,
+      0.56
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.76,
+       0.0
+      ],
+      [
+       -0.76,
+       -0.64,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.5
+   }
+  ],
+  "fireplace": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.41,
+      4.81,
+      -0.73
+     ],
+     "3D oriented bounding box dimensions": [
+      0.58,
+      0.37,
+      0.4
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.13,
+       0.99,
+       0.0
+      ],
+      [
+       -0.99,
+       0.13,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.67
+   }
+  ],
+  "stool": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.25,
+      -0.48,
+      0.01
+     ],
+     "3D oriented bounding box dimensions": [
+      0.65,
+      0.48,
+      0.11
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.57,
+       0.82,
+       0.0
+      ],
+      [
+       -0.82,
+       -0.57,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.28,
+      -0.6,
+      -0.01
+     ],
+     "3D oriented bounding box dimensions": [
+      0.83,
+      0.44,
+      0.46
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.6,
+       0.8,
+       0.0
+      ],
+      [
+       -0.8,
+       -0.6,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 6.67
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.36,
+      0.93,
+      0.04
+     ],
+     "3D oriented bounding box dimensions": [
+      0.53,
+      0.58,
+      0.41
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       0.01,
+       0.0
+      ],
+      [
+       -0.01,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 7.17
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.73,
+      -1.41,
+      -0.11
+     ],
+     "3D oriented bounding box dimensions": [
+      0.43,
+      0.48,
+      0.69
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       0.01,
+       0.0
+      ],
+      [
+       -0.01,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.83
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.34,
+      -0.17,
+      0.16
+     ],
+     "3D oriented bounding box dimensions": [
+      0.54,
+      0.5,
+      1.39
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.05,
+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       -0.05,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 10.5
+   }
+  ],
+  "toilet": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.4,
+      2.19,
+      0.63
+     ],
+     "3D oriented bounding box dimensions": [
+      0.21,
+      0.04,
+      0.33
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.93,
+       -0.37,
+       0.0
+      ],
+      [
+       0.37,
+       0.93,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.33
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -1.87,
+      -1.96
+     ],
+     [
+      4.43,
+      -1.96
+     ],
+     [
+      4.43,
+      1.84
+     ],
+     [
+      3.83,
+      1.84
+     ],
+     [
+      3.73,
+      1.94
+     ],
+     [
+      3.73,
+      2.34
+     ],
+     [
+      3.63,
+      2.44
+     ],
+     [
+      2.73,
+      2.44
+     ],
+     [
+      2.63,
+      2.34
+     ],
+     [
+      2.03,
+      2.34
+     ],
+     [
+      1.93,
+      2.44
+     ],
+     [
+      1.93,
+      2.84
+     ],
+     [
+      1.83,
+      2.94
+     ],
+     [
+      1.83,
+      3.04
+     ],
+     [
+      1.53,
+      3.04
+     ],
+     [
+      1.43,
+      3.14
+     ],
+     [
+      1.43,
+      4.24
+     ],
+     [
+      1.53,
+      4.34
+     ],
+     [
+      1.63,
+      4.34
+     ],
+     [
+      1.63,
+      4.84
+     ],
+     [
+      1.23,
+      4.84
+     ],
+     [
+      1.13,
+      4.74
+     ],
+     [
+      1.13,
+      4.54
+     ],
+     [
+      1.03,
+      4.44
+     ],
+     [
+      1.03,
+      3.84
+     ],
+     [
+      0.93,
+      3.74
+     ],
+     [
+      0.93,
+      3.14
+     ],
+     [
+      0.73,
+      2.94
+     ],
+     [
+      0.73,
+      2.04
+     ],
+     [
+      0.63,
+      1.94
+     ],
+     [
+      0.63,
+      1.64
+     ],
+     [
+      0.53,
+      1.54
+     ],
+     [
+      0.53,
+      1.34
+     ],
+     [
+      0.63,
+      1.34
+     ],
+     [
+      0.73,
+      1.24
+     ],
+     [
+      0.73,
+      0.84
+     ],
+     [
+      0.63,
+      0.74
+     ],
+     [
+      -0.77,
+      0.74
+     ],
+     [
+      -0.87,
+      0.84
+     ],
+     [
+      -0.87,
+      1.24
+     ],
+     [
+      -0.97,
+      1.34
+     ],
+     [
+      -0.97,
+      1.54
+     ],
+     [
+      -1.07,
+      1.54
+     ],
+     [
+      -1.17,
+      1.64
+     ],
+     [
+      -1.17,
+      2.54
+     ],
+     [
+      -1.87,
+      2.54
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/44358499.json b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/44358499.json
new file mode 100644
index 0000000000000000000000000000000000000000..352b310638ede1750402c5fac62d144c31b7518a
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/44358499.json	
@@ -0,0 +1,1076 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "bed": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.61,
+      3.43,
+      0.0
+     ],
+     "3D oriented bounding box dimensions": [
+      2.0,
+      1.53,
+      0.04
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.34,
+       0.94,
+       0.0
+      ],
+      [
+       -0.94,
+       -0.34,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.33
+   }
+  ],
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.01,
+      0.16,
+      0.42
+     ],
+     "3D oriented bounding box dimensions": [
+      0.61,
+      0.47,
+      0.82
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.59,
+       0.81,
+       0.0
+      ],
+      [
+       -0.81,
+       0.59,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.06,
+      1.6,
+      0.46
+     ],
+     "3D oriented bounding box dimensions": [
+      0.44,
+      0.33,
+      0.83
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.27,
+       0.96,
+       0.0
+      ],
+      [
+       -0.96,
+       -0.27,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.11,
+      1.6,
+      0.34
+     ],
+     "3D oriented bounding box dimensions": [
+      0.41,
+      0.34,
+      0.77
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.28,
+       0.96,
+       0.0
+      ],
+      [
+       -0.96,
+       0.28,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.67
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.56,
+      0.84,
+      0.47
+     ],
+     "3D oriented bounding box dimensions": [
+      1.07,
+      0.8,
+      0.81
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.85,
+       -0.52,
+       0.0
+      ],
+      [
+       0.52,
+       0.85,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.67
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.76,
+      -0.06,
+      0.78
+     ],
+     "3D oriented bounding box dimensions": [
+      0.4,
+      0.11,
+      0.13
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.0,
+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       0.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 9.33
+   }
+  ],
+  "dishwasher": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.9,
+      4.85,
+      0.56
+     ],
+     "3D oriented bounding box dimensions": [
+      0.44,
+      0.07,
+      0.74
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.16,
+       0.99,
+       0.0
+      ],
+      [
+       -0.99,
+       0.16,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 5.67
+   }
+  ],
+  "fireplace": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      3.35,
+      -1.05,
+      0.75
+     ],
+     "3D oriented bounding box dimensions": [
+      1.1,
+      0.45,
+      0.26
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.48,
+       0.87,
+       0.0
+      ],
+      [
+       -0.87,
+       0.48,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      3.51,
+      -1.55,
+      0.56
+     ],
+     "3D oriented bounding box dimensions": [
+      0.35,
+      0.22,
+      0.49
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.98,
+       0.2,
+       0.0
+      ],
+      [
+       -0.2,
+       0.98,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.0
+   }
+  ],
+  "refrigerator": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.05,
+      3.89,
+      0.4
+     ],
+     "3D oriented bounding box dimensions": [
+      0.57,
+      0.02,
+      0.87
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.1,
+       0.99,
+       0.0
+      ],
+      [
+       -0.99,
+       0.1,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 7.5
+   }
+  ],
+  "sofa": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.0,
+      -1.63,
+      0.42
+     ],
+     "3D oriented bounding box dimensions": [
+      2.31,
+      1.1,
+      0.77
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.3,
+       0.95,
+       0.0
+      ],
+      [
+       -0.95,
+       -0.3,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.17
+   }
+  ],
+  "stool": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      3.04,
+      -3.06,
+      0.17
+     ],
+     "3D oriented bounding box dimensions": [
+      0.43,
+      0.3,
+      0.52
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.04,
+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       -0.04,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.17
+   }
+  ],
+  "stove": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.23,
+      4.27,
+      0.96
+     ],
+     "3D oriented bounding box dimensions": [
+      0.75,
+      0.58,
+      0.02
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.16,
+       0.99,
+       0.0
+      ],
+      [
+       -0.99,
+       -0.16,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 8.0
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.02,
+      -1.4,
+      0.39
+     ],
+     "3D oriented bounding box dimensions": [
+      1.47,
+      0.6,
+      0.76
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
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+       0.38,
+       0.0
+      ],
+      [
+       -0.38,
+       0.93,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.23,
+      -0.15,
+      0.45
+     ],
+     "3D oriented bounding box dimensions": [
+      1.89,
+      0.79,
+      0.7
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.3,
+       0.95,
+       0.0
+      ],
+      [
+       -0.95,
+       0.3,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
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+     "3D oriented bounding box dimensions": [
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+     "3D oriented bounding box orientation unit vectors": [
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+      0.68
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+     "3D oriented bounding box dimensions": [
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+      0.15,
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+     "3D oriented bounding box orientation unit vectors": [
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+    "first visible time": 9.17
+   }
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+     "3D oriented bounding box center coordinates": [
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+      0.67,
+      0.77
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+      0.45
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+      0.45
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+     "3D oriented bounding box dimensions": [
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+     "3D oriented bounding box orientation unit vectors": [
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+    "first visible time": 7.33
+   }
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+ },
+ "room": {
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+     ],
+     [
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+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/45260856.json b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/45260856.json
new file mode 100644
index 0000000000000000000000000000000000000000..5693c9bda036c097b70de445022c5da911e42f51
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/45260856.json	
@@ -0,0 +1,768 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "bed": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      1.33,
+      0.01
+     ],
+     "3D oriented bounding box dimensions": [
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+      2.12,
+      0.84
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.24,
+       0.0
+      ],
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+       0.97,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.5
+   },
+   {
+    "3D oriented bounding box": {
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+      1.96,
+      0.1
+     ],
+     "3D oriented bounding box dimensions": [
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+      1.35,
+      0.96
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.83,
+       0.0
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+      [
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.33
+   }
+  ],
+  "chair": [
+   {
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+      0.72,
+      -0.21
+     ],
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+      0.47,
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+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+      [
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   },
+   {
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+      3.38,
+      -0.13
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.76
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.17
+   },
+   {
+    "3D oriented bounding box": {
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+      -0.21
+     ],
+     "3D oriented bounding box dimensions": [
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+       1.0
+      ]
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+    "first visible time": 3.5
+   },
+   {
+    "3D oriented bounding box": {
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+      -0.68,
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+     ],
+     "3D oriented bounding box dimensions": [
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+      0.52,
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.0,
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+    "first visible time": 1.0
+   }
+  ],
+  "fireplace": [
+   {
+    "3D oriented bounding box": {
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+      3.19,
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+     ],
+     "3D oriented bounding box dimensions": [
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+    "first visible time": 3.5
+   }
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+   }
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+ "room": {
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+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/45261150.json b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/45261150.json
new file mode 100644
index 0000000000000000000000000000000000000000..b818bece706794e5d11514b8cf289098c60c8e30
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/45261150.json	
@@ -0,0 +1,574 @@
+{
+ "spatial code schema": {
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+   "<object class>": [
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+      "3D oriented bounding box center coordinates": {
+       "components": [
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+        "y",
+        "height above floor"
+       ],
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+      "3D oriented bounding box dimensions": {
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+        "dimension 2",
+        "dimension 3"
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+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
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+         "height"
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+        [
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+         "height"
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+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
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+      "description": "earliest time at which this object instance is visibly observed"
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+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/45261182.json b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/45261182.json
new file mode 100644
index 0000000000000000000000000000000000000000..ac9aa7850d459d0a50cfcc1e7db08443db651e93
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/45261182.json	
@@ -0,0 +1,446 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
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+       [
+        [
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+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
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+     [
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+      -1.77
+     ],
+     [
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+      -1.87
+     ],
+     [
+      -0.42,
+      -1.87
+     ],
+     [
+      -0.42,
+      -2.37
+     ],
+     [
+      -0.52,
+      -2.47
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/45662970.json b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/45662970.json
new file mode 100644
index 0000000000000000000000000000000000000000..8f59eb00cb9b0afe2c0f605012da25fd6aa23b5e
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/45662970.json	
@@ -0,0 +1,320 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
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+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
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+      -1.44,
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+      0.99,
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.0,
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+      -2.58
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+      0.92
+     ],
+     [
+      -0.72,
+      0.92
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/45662987.json b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/45662987.json
new file mode 100644
index 0000000000000000000000000000000000000000..a9fa8501cf7f3e91af478233965995f4b48e7e68
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/45662987.json	
@@ -0,0 +1,588 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
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+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
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+     "interior hole boundary coordinates": {
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+        [
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+         "y"
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+        [
+         "x",
+         "y"
+        ]
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+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
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+    }
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+       1.0
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+   }
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+ "room": {
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+      1.7,
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+     [
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+      2.2,
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+     ],
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+     [
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+      -0.1
+     ],
+     [
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+     ],
+     [
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+     ],
+     [
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+      0.9
+     ],
+     [
+      1.6,
+      0.9
+     ],
+     [
+      1.5,
+      1.0
+     ],
+     [
+      0.4,
+      1.0
+     ],
+     [
+      0.3,
+      1.1
+     ],
+     [
+      -0.7,
+      1.1
+     ],
+     [
+      -0.8,
+      1.2
+     ],
+     [
+      -0.8,
+      1.4
+     ],
+     [
+      -4.0,
+      1.4
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/45663114.json b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/45663114.json
new file mode 100644
index 0000000000000000000000000000000000000000..2446c2a2407d085465bca442287b026fd020ebcc
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/45663114.json	
@@ -0,0 +1,350 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "bathtub": [
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+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/47115460.json b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/47115460.json
new file mode 100644
index 0000000000000000000000000000000000000000..0a2d862a635da3c9e99573c6278c5cc554f46233
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/47115460.json	
@@ -0,0 +1,590 @@
+{
+ "spatial code schema": {
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+      "3D oriented bounding box center coordinates": {
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+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
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+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
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+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
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+         "y",
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+        [
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+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
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+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
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+     "first visible time": {
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+      "description": "earliest time at which this object instance is visibly observed"
+     }
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+        "x",
+        "y"
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+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/47115525.json b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/47115525.json
new file mode 100644
index 0000000000000000000000000000000000000000..117aa63a80f8a456440cd82b1da961747d9ebc3f
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/47115525.json	
@@ -0,0 +1,528 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
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+        [
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+         "height"
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+        [
+         "x",
+         "y",
+         "height"
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+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
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+       [
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+        "y"
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+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
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+        [
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+         "y"
+        ],
+        [
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+         "y"
+        ]
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+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
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+ },
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+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/47204566.json b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/47204566.json
new file mode 100644
index 0000000000000000000000000000000000000000..e3dcd2800ca9d478fde3a454ba80a0bdbfbfdf06
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/47204566.json	
@@ -0,0 +1,220 @@
+{
+ "spatial code schema": {
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+        "dimension 2",
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+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
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+      "description": "earliest time at which this object instance is visibly observed"
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+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/47204578.json b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/47204578.json
new file mode 100644
index 0000000000000000000000000000000000000000..fa0e115369eb8236618bd5d879307a990cc06276
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/47204578.json	
@@ -0,0 +1,846 @@
+{
+ "spatial code schema": {
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+        "dimension 2",
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+         "y",
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+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
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+     "first visible time": {
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+      "description": "earliest time at which this object instance is visibly observed"
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+     [
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+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/47204607.json b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/47204607.json
new file mode 100644
index 0000000000000000000000000000000000000000..01a46190d700fcb57c5a7e3c9f3cd73ecc0b4aa5
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/47204607.json	
@@ -0,0 +1,810 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
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+    "3D oriented bounding box": {
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+      ]
+     ]
+    },
+    "first visible time": 0.5
+   }
+  ]
+ },
+ "room": {
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+      -1.35
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+     ],
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+     ],
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+     ],
+     [
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+     ],
+     [
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+     ],
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+     ],
+     [
+      -2.32,
+      1.95
+     ],
+     [
+      -2.52,
+      2.15
+     ],
+     [
+      -2.52,
+      2.45
+     ],
+     [
+      -3.42,
+      2.45
+     ],
+     [
+      -3.42,
+      2.25
+     ],
+     [
+      -3.52,
+      2.15
+     ],
+     [
+      -3.72,
+      2.15
+     ],
+     [
+      -3.82,
+      2.05
+     ],
+     [
+      -3.92,
+      2.05
+     ],
+     [
+      -3.92,
+      1.45
+     ],
+     [
+      -4.12,
+      1.25
+     ],
+     [
+      -4.32,
+      1.25
+     ],
+     [
+      -4.42,
+      1.15
+     ],
+     [
+      -4.92,
+      1.15
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/47331063.json b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/47331063.json
new file mode 100644
index 0000000000000000000000000000000000000000..cd635b2b90e89aa9fe23692194df084969e44ffd
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/47331063.json	
@@ -0,0 +1,560 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "bed": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.9,
+      -0.46,
+      -0.01
+     ],
+     "3D oriented bounding box dimensions": [
+      1.21,
+      0.78,
+      0.63
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.21,
+       0.98,
+       0.0
+      ],
+      [
+       -0.98,
+       -0.21,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.67
+   }
+  ],
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      -1.07,
+      -0.18
+     ],
+     "3D oriented bounding box dimensions": [
+      0.7,
+      0.46,
+      0.39
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.28,
+       0.96,
+       0.0
+      ],
+      [
+       -0.96,
+       -0.28,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.21,
+      -1.58,
+      -0.33
+     ],
+     "3D oriented bounding box dimensions": [
+      0.54,
+      0.43,
+      0.25
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.9,
+       0.44,
+       0.0
+      ],
+      [
+       -0.44,
+       0.9,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.17
+   }
+  ],
+  "dishwasher": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.7,
+      -0.11,
+      0.36
+     ],
+     "3D oriented bounding box dimensions": [
+      0.42,
+      0.3,
+      0.3
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.71,
+       -0.7,
+       0.0
+      ],
+      [
+       0.7,
+       0.71,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 5.67
+   }
+  ],
+  "fireplace": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.75,
+      -1.23,
+      -0.02
+     ],
+     "3D oriented bounding box dimensions": [
+      0.48,
+      0.04,
+      0.59
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.13,
+       0.99,
+       0.0
+      ],
+      [
+       -0.99,
+       -0.13,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 5.33
+   }
+  ],
+  "refrigerator": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.81,
+      -1.78,
+      0.58
+     ],
+     "3D oriented bounding box dimensions": [
+      0.58,
+      0.45,
+      1.22
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.02,
+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       -0.02,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.33
+   }
+  ],
+  "stool": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.27,
+      1.01,
+      -0.23
+     ],
+     "3D oriented bounding box dimensions": [
+      0.41,
+      0.34,
+      0.27
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.0,
+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       0.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 9.5
+   }
+  ],
+  "stove": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.01,
+      -1.3,
+      0.34
+     ],
+     "3D oriented bounding box dimensions": [
+      0.25,
+      0.43,
+      0.02
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.07,
+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       -0.07,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 5.33
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.67,
+      -1.91,
+      0.08
+     ],
+     "3D oriented bounding box dimensions": [
+      0.88,
+      0.43,
+      0.67
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       -0.06,
+       0.0
+      ],
+      [
+       0.06,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.83
+   }
+  ],
+  "tv": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.75,
+      -2.14,
+      0.82
+     ],
+     "3D oriented bounding box dimensions": [
+      0.86,
+      0.06,
+      0.49
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       0.03,
+       0.0
+      ],
+      [
+       -0.03,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.47,
+      -2.05,
+      0.52
+     ],
+     "3D oriented bounding box dimensions": [
+      0.53,
+      0.03,
+      0.31
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.99,
+       0.13,
+       0.0
+      ],
+      [
+       -0.13,
+       0.99,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.83
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -1.7,
+      -2.69
+     ],
+     [
+      1.5,
+      -2.69
+     ],
+     [
+      1.5,
+      -2.49
+     ],
+     [
+      1.6,
+      -2.39
+     ],
+     [
+      1.8,
+      -2.39
+     ],
+     [
+      1.9,
+      -2.29
+     ],
+     [
+      2.4,
+      -2.29
+     ],
+     [
+      2.4,
+      -0.09
+     ],
+     [
+      0.9,
+      -0.09
+     ],
+     [
+      0.8,
+      0.01
+     ],
+     [
+      0.8,
+      0.61
+     ],
+     [
+      0.9,
+      0.71
+     ],
+     [
+      0.9,
+      0.91
+     ],
+     [
+      0.8,
+      0.91
+     ],
+     [
+      0.6,
+      1.11
+     ],
+     [
+      0.6,
+      1.51
+     ],
+     [
+      -0.8,
+      1.51
+     ],
+     [
+      -0.8,
+      0.51
+     ],
+     [
+      -0.9,
+      0.41
+     ],
+     [
+      -1.0,
+      0.41
+     ],
+     [
+      -1.1,
+      0.31
+     ],
+     [
+      -1.7,
+      0.31
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/47331654.json b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/47331654.json
new file mode 100644
index 0000000000000000000000000000000000000000..6a2fd550404914c558510990511fc1791a7d0100
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/47331654.json	
@@ -0,0 +1,580 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.62,
+      0.89,
+      -0.29
+     ],
+     "3D oriented bounding box dimensions": [
+      0.4,
+      0.42,
+      0.78
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.62,
+       0.0
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+       0.79,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.04,
+      1.78,
+      -0.3
+     ],
+     "3D oriented bounding box dimensions": [
+      0.53,
+      0.4,
+      0.75
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.98,
+       0.0
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+       0.19,
+       0.0
+      ],
+      [
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 6.67
+   }
+  ],
+  "refrigerator": [
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+    "3D oriented bounding box": {
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+      1.19,
+      -0.01
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.35,
+      1.36
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.66,
+       0.0
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+      [
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 7.67
+   }
+  ],
+  "stool": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.03,
+      0.16,
+      -0.56
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.19,
+      0.3
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.08,
+       0.0
+      ],
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+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.83
+   }
+  ],
+  "stove": [
+   {
+    "3D oriented bounding box": {
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+      -0.46,
+      -0.22
+     ],
+     "3D oriented bounding box dimensions": [
+      0.45,
+      0.26,
+      0.87
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.68,
+       0.0
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+       0.73,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.33
+   }
+  ],
+  "table": [
+   {
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+     "3D oriented bounding box center coordinates": [
+      2.6,
+      1.11,
+      -0.19
+     ],
+     "3D oriented bounding box dimensions": [
+      0.6,
+      0.91,
+      0.57
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.94,
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+      ],
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+       0.33,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 5.67
+   },
+   {
+    "3D oriented bounding box": {
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+      2.4,
+      1.18,
+      -0.3
+     ],
+     "3D oriented bounding box dimensions": [
+      0.61,
+      0.45,
+      0.76
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.46,
+       0.0
+      ],
+      [
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+       0.89,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.33
+   }
+  ],
+  "toilet": [
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+      0.13,
+      -0.3
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.12,
+      0.32
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.03,
+       0.0
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+       1.0,
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+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 8.5
+   }
+  ],
+  "washer": [
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+      -0.76,
+      -0.21
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.18,
+      0.83
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.61,
+       0.0
+      ],
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+       0.79,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.33
+   },
+   {
+    "3D oriented bounding box": {
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+      -0.93,
+      -0.26
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.12,
+      0.79
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.82,
+       0.57,
+       0.0
+      ],
+      [
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+       0.82,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.17
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
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+      -0.82
+     ],
+     [
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+      -0.82
+     ],
+     [
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+     ],
+     [
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+     ],
+     [
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+     ],
+     [
+      0.98,
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+     ],
+     [
+      1.08,
+      -0.62
+     ],
+     [
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+     ],
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+      -1.02
+     ],
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+      -1.22
+     ],
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+      -1.22
+     ],
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+      -1.02
+     ],
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+      3.78,
+      -0.42
+     ],
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+      -0.42
+     ],
+     [
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+      0.88
+     ],
+     [
+      3.78,
+      0.88
+     ],
+     [
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+      1.08
+     ],
+     [
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+      1.28
+     ],
+     [
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+      1.28
+     ],
+     [
+      3.28,
+      1.48
+     ],
+     [
+      3.28,
+      1.78
+     ],
+     [
+      3.18,
+      1.88
+     ],
+     [
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+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/47331990.json b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/47331990.json
new file mode 100644
index 0000000000000000000000000000000000000000..df678be4580d93860d430463b666743ef617f725
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/47331990.json	
@@ -0,0 +1,352 @@
+{
+ "spatial code schema": {
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+   "<object class>": [
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+      "3D oriented bounding box center coordinates": {
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+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
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+        "dimension 2",
+        "dimension 3"
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+       "unit": "meters",
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+         "height"
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+        [
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+         "y",
+         "height"
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+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
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+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
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+         "y"
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+        [
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+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
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+    "interior hole boundary coordinates": []
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+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/47332005.json b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/47332005.json
new file mode 100644
index 0000000000000000000000000000000000000000..66dcd209c52f092e76cbd021d735d47cad60a2ff
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/47332005.json	
@@ -0,0 +1,621 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
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+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
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+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
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+         "y",
+         "height"
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+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
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+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
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+      "unit": "meters",
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+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/47332899.json b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/47332899.json
new file mode 100644
index 0000000000000000000000000000000000000000..7b9d1aa046e430a63b9b3510ac8d7368769c6c72
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/47332899.json	
@@ -0,0 +1,542 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
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+         "y",
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+      "description": "earliest time at which this object instance is visibly observed"
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+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/47332901.json b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/47332901.json
new file mode 100644
index 0000000000000000000000000000000000000000..dcfdc0f0f8b6b8b5e99ae59af2368d7945b14277
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/47332901.json	
@@ -0,0 +1,480 @@
+{
+ "spatial code schema": {
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+      "3D oriented bounding box center coordinates": {
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+        "dimension 2",
+        "dimension 3"
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+        [
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+         "height"
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+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
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+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
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+  },
+  "room": {
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+       [
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+        "y"
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+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
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+         "y"
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+        [
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+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
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+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/47333436.json b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/47333436.json
new file mode 100644
index 0000000000000000000000000000000000000000..1ed6daf9589c3f96433334fcd0f9cbd61437e9fe
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/47333436.json	
@@ -0,0 +1,562 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "bed": [
+   {
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+     [
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+     ],
+     [
+      -3.75,
+      0.77
+     ],
+     [
+      -4.25,
+      0.77
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/47334238.json b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/47334238.json
new file mode 100644
index 0000000000000000000000000000000000000000..3aa49296e331eb13b5b1b33a4cfc98641f2e1638
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/47334238.json	
@@ -0,0 +1,586 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "chair": [
+   {
+    "3D oriented bounding box": {
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+      -3.24,
+      0.22
+     ],
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+      0.69
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+      0.69,
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+   },
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+       0.0
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+      -0.22,
+      -0.04
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+       -0.04,
+       0.0
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+       0.0,
+       1.0
+      ]
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+       0.0,
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+    "first visible time": 2.0
+   }
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+      -0.19
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+     "3D oriented bounding box dimensions": [
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+   }
+  ]
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+     [
+      -0.99,
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+     ],
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+      -1.09,
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+     ],
+     [
+      -1.09,
+      -0.86
+     ],
+     [
+      -1.19,
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+     ],
+     [
+      -1.19,
+      -1.06
+     ],
+     [
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+      -1.16
+     ],
+     [
+      -1.49,
+      -1.16
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/47334362.json b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/47334362.json
new file mode 100644
index 0000000000000000000000000000000000000000..0b09287c25b03b18d1df637ebbe06c4f1ff4bc26
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/47334362.json	
@@ -0,0 +1,1126 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
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+         "height"
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+        [
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+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
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+        [
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+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
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+     ],
+     [
+      -1.09,
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+     ],
+     [
+      -1.29,
+      0.88
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/5942004064.json b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/5942004064.json
new file mode 100644
index 0000000000000000000000000000000000000000..03a7b5b220afa44b0d5f961b9a4101ba749f72b8
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/5942004064.json	
@@ -0,0 +1,1886 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "basket": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.0,
+      1.56,
+      1.82
+     ],
+     "3D oriented bounding box dimensions": [
+      0.28,
+      0.19,
+      0.25
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.07,
+       0.0
+      ],
+      [
+       -0.07,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.33
+   }
+  ],
+  "bed": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.29,
+      1.44,
+      1.81
+     ],
+     "3D oriented bounding box dimensions": [
+      1.23,
+      0.31,
+      1.82
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
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+       -0.27,
+       0.0
+      ],
+      [
+       0.27,
+       0.96,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 8.83
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.6,
+      1.54,
+      2.49
+     ],
+     "3D oriented bounding box dimensions": [
+      1.26,
+      0.51,
+      1.46
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       0.04,
+       0.0
+      ],
+      [
+       -0.04,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 6.83
+   }
+  ],
+  "blanket": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.13,
+      1.4,
+      1.65
+     ],
+     "3D oriented bounding box dimensions": [
+      1.22,
+      0.3,
+      1.79
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.97,
+       -0.24,
+       0.0
+      ],
+      [
+       0.24,
+       0.97,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 9.83
+   }
+  ],
+  "bookshelf": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.78,
+      1.29,
+      -0.37
+     ],
+     "3D oriented bounding box dimensions": [
+      0.04,
+      0.03,
+      0.19
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.87,
+       -0.5,
+       0.0
+      ],
+      [
+       0.5,
+       0.87,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 10.17
+   }
+  ],
+  "bowl": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -4.51,
+      1.46,
+      0.76
+     ],
+     "3D oriented bounding box dimensions": [
+      0.79,
+      0.13,
+      0.44
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.99,
+       -0.15,
+       0.0
+      ],
+      [
+       0.15,
+       0.99,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 7.33
+   }
+  ],
+  "ceiling light": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -4.12,
+      -0.23,
+      1.5
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.17,
+      0.62
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.04,
+       0.0
+      ],
+      [
+       0.04,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -4.34,
+      -0.27,
+      1.2
+     ],
+     "3D oriented bounding box dimensions": [
+      0.48,
+      0.0,
+      0.04
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.11,
+       0.0
+      ],
+      [
+       0.11,
+       0.99,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.17
+   }
+  ],
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -3.94,
+      1.73,
+      0.76
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.77,
+      0.46
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.41,
+       0.0
+      ],
+      [
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+       0.91,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 5.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -3.01,
+      1.65,
+      2.32
+     ],
+     "3D oriented bounding box dimensions": [
+      0.9,
+      0.59,
+      0.57
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.97,
+       0.26,
+       0.0
+      ],
+      [
+       -0.26,
+       0.97,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.83
+   }
+  ],
+  "clock": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -3.01,
+      1.07,
+      3.05
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.06,
+      0.01
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
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+       0.24,
+       0.0
+      ],
+      [
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+       0.97,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 6.33
+   }
+  ],
+  "cup": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      1.47,
+      0.51
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.03,
+      0.27
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.03,
+       0.0
+      ],
+      [
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+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 7.33
+   }
+  ],
+  "cushion": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -4.14,
+      1.72,
+      -0.04
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.18,
+      0.51
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.06,
+       0.0
+      ],
+      [
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+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 5.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      1.48,
+      -0.42
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.41,
+      0.2
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.04,
+       0.0
+      ],
+      [
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+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 5.67
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      1.39,
+      2.84
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.11,
+      0.29
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.15,
+       0.0
+      ],
+      [
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+       0.99,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.83
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      1.63,
+      -0.16
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.18,
+      0.3
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.34,
+       0.0
+      ],
+      [
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+       0.94,
+       0.0
+      ],
+      [
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 5.67
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      1.67,
+      0.77
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.06,
+      0.37
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.0
+      ],
+      [
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+       0.99,
+       0.0
+      ],
+      [
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 5.67
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      1.44,
+      -0.16
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.28,
+      0.53
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+      ],
+      [
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+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 7.33
+   }
+  ],
+  "cutting board": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      1.79,
+      0.68
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.63,
+      0.78
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.15,
+       0.0
+      ],
+      [
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+       0.99,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 7.33
+   }
+  ],
+  "door": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.12,
+      0.33,
+      0.84
+     ],
+     "3D oriented bounding box dimensions": [
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+      1.71,
+      1.03
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.99,
+       0.0
+      ],
+      [
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+       0.1,
+       0.0
+      ],
+      [
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.0
+   },
+   {
+    "3D oriented bounding box": {
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+      0.53,
+      1.34
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.81,
+      0.54
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.7,
+       0.0
+      ],
+      [
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+       0.71,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   },
+   {
+    "3D oriented bounding box": {
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+      0.59,
+      -0.01
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.51,
+      0.1
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.99,
+       0.0
+      ],
+      [
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+       0.1,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      0.67,
+      0.05
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.84,
+      0.14
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       -0.03,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      1.82,
+      1.72
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.13,
+      0.79
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.99,
+       0.0
+      ],
+      [
+       -0.99,
+       0.16,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.67
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      0.51,
+      0.46
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.08,
+      0.83
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.99,
+       0.0
+      ],
+      [
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+       0.11,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 5.0
+   }
+  ],
+  "kettle": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      1.37,
+      2.71
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.06,
+      0.07
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.97,
+       0.0
+      ],
+      [
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+       0.25,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 7.17
+   }
+  ],
+  "laptop": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      1.35,
+      2.7
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.04,
+      0.32
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.14,
+       0.0
+      ],
+      [
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+       0.99,
+       0.0
+      ],
+      [
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.33
+   }
+  ],
+  "pillow": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      1.39,
+      2.84
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.11,
+      0.29
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.16,
+       0.0
+      ],
+      [
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+       0.99,
+       0.0
+      ],
+      [
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.17
+   },
+   {
+    "3D oriented bounding box": {
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+      1.63,
+      -0.16
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.18,
+      0.3
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.32,
+       0.0
+      ],
+      [
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+       0.95,
+       0.0
+      ],
+      [
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 5.67
+   },
+   {
+    "3D oriented bounding box": {
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+      1.46,
+      -0.16
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.28,
+      0.53
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.05,
+       0.0
+      ],
+      [
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+       1.0,
+       0.0
+      ],
+      [
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 7.33
+   },
+   {
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.83
+   }
+  ],
+  "plant": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      0.98,
+      2.5
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.36,
+      0.37
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+     "3D oriented bounding box orientation unit vectors": [
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+      ],
+      [
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 6.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      1.34,
+      1.02
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.77,
+      0.28
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.0
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+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 5.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      1.09,
+      0.31
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.34,
+      0.5
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.96,
+       0.0
+      ],
+      [
+       -0.96,
+       -0.27,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      1.03,
+      -0.37
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.67,
+      0.48
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+      ],
+      [
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.67
+   },
+   {
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+     ],
+     "3D oriented bounding box dimensions": [
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+      0.35,
+      0.76
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.27,
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+       0.0,
+       1.0
+      ]
+     ]
+    },
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+   },
+   {
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+      1.32,
+      -0.22
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.32,
+      0.34
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.0,
+       1.0
+      ]
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+    },
+    "first visible time": 5.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      1.18,
+      2.58
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.08,
+      0.18
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.0
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+       0.99,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      1.25,
+      0.61
+     ],
+     "3D oriented bounding box dimensions": [
+      0.37,
+      0.28,
+      0.27
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.89,
+       0.0
+      ],
+      [
+       -0.89,
+       -0.45,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 9.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      1.56,
+      -0.3
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.14,
+      0.22
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.51,
+       0.0
+      ],
+      [
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+       0.86,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 7.67
+   }
+  ],
+  "power strip": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      1.22,
+      -0.46
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.07,
+      0.14
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.05,
+       0.0
+      ],
+      [
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+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 9.17
+   }
+  ],
+  "sofa": [
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+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      1.56,
+      -0.15
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.61,
+      0.71
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.01,
+       0.0
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+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 5.5
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      1.73,
+      0.73
+     ],
+     "3D oriented bounding box dimensions": [
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+      1.25,
+      0.77
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.95,
+       0.0
+      ],
+      [
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+       0.31,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 5.67
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      1.3,
+      2.58
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.08,
+      0.45
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       1.0,
+       -0.07,
+       0.0
+      ],
+      [
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+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.33
+   }
+  ],
+  "table lamp": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -5.48,
+      0.91,
+      -0.27
+     ],
+     "3D oriented bounding box dimensions": [
+      0.28,
+      0.35,
+      0.17
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.14,
+       0.0
+      ],
+      [
+       -0.14,
+       0.99,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.33
+   }
+  ],
+  "telephone": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.85,
+      0.43,
+      0.87
+     ],
+     "3D oriented bounding box dimensions": [
+      0.29,
+      0.2,
+      0.04
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       0.06,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.33
+   }
+  ],
+  "toilet": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.89,
+      0.89,
+      2.03
+     ],
+     "3D oriented bounding box dimensions": [
+      0.39,
+      0.23,
+      0.61
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.92,
+       -0.38,
+       0.0
+      ],
+      [
+       0.38,
+       0.92,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.92,
+      1.19,
+      1.34
+     ],
+     "3D oriented bounding box dimensions": [
+      0.51,
+      0.62,
+      0.57
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.99,
+       -0.14,
+       0.0
+      ],
+      [
+       0.14,
+       0.99,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.86,
+      1.13,
+      1.31
+     ],
+     "3D oriented bounding box dimensions": [
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+      1.0,
+      0.35
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.26,
+       0.0
+      ],
+      [
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+       0.97,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.17
+   }
+  ],
+  "trash can": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.09,
+      1.58,
+      1.81
+     ],
+     "3D oriented bounding box dimensions": [
+      0.22,
+      0.04,
+      0.13
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.09,
+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       0.09,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 10.5
+   }
+  ],
+  "tv": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.36,
+      1.05,
+      -0.44
+     ],
+     "3D oriented bounding box dimensions": [
+      1.03,
+      0.75,
+      0.1
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.92,
+       -0.4,
+       0.0
+      ],
+      [
+       0.4,
+       0.92,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 5.17
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -6.14,
+      -0.3
+     ],
+     [
+      -5.94,
+      -0.3
+     ],
+     [
+      -5.84,
+      -0.4
+     ],
+     [
+      -4.94,
+      -0.4
+     ],
+     [
+      -4.84,
+      -0.5
+     ],
+     [
+      -4.44,
+      -0.5
+     ],
+     [
+      -4.34,
+      -0.6
+     ],
+     [
+      -3.34,
+      -0.6
+     ],
+     [
+      -3.24,
+      -0.7
+     ],
+     [
+      -3.24,
+      -0.9
+     ],
+     [
+      1.56,
+      -0.9
+     ],
+     [
+      1.56,
+      1.6
+     ],
+     [
+      1.36,
+      1.6
+     ],
+     [
+      1.26,
+      1.7
+     ],
+     [
+      0.76,
+      1.7
+     ],
+     [
+      0.66,
+      1.8
+     ],
+     [
+      -0.84,
+      1.8
+     ],
+     [
+      -0.94,
+      1.9
+     ],
+     [
+      -1.34,
+      1.9
+     ],
+     [
+      -1.44,
+      2.0
+     ],
+     [
+      -1.74,
+      2.0
+     ],
+     [
+      -1.84,
+      2.1
+     ],
+     [
+      -2.54,
+      2.1
+     ],
+     [
+      -2.64,
+      2.2
+     ],
+     [
+      -2.64,
+      2.4
+     ],
+     [
+      -6.14,
+      2.4
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/7831862f02.json b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/7831862f02.json
new file mode 100644
index 0000000000000000000000000000000000000000..121bfec6eab5ed8a88b1b0f2a68882f2ebcbcdf4
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/7831862f02.json	
@@ -0,0 +1,3333 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "ceiling light": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.28,
+      2.19,
+      2.45
+     ],
+     "3D oriented bounding box dimensions": [
+      1.91,
+      2.65,
+      0.06
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.32,
+       0.95,
+       0.0
+      ],
+      [
+       -0.95,
+       0.32,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.67
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.35,
+      2.35,
+      1.81
+     ],
+     "3D oriented bounding box dimensions": [
+      1.59,
+      2.69,
+      0.79
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.42,
+       0.91,
+       0.0
+      ],
+      [
+       -0.91,
+       0.42,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.67
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.73,
+      0.19,
+      1.83
+     ],
+     "3D oriented bounding box dimensions": [
+      1.65,
+      1.9,
+      0.61
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.21,
+       0.98,
+       0.0
+      ],
+      [
+       -0.98,
+       -0.21,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.83
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      5.18,
+      4.6,
+      2.1
+     ],
+     "3D oriented bounding box dimensions": [
+      2.38,
+      0.43,
+      0.32
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.82,
+       0.57,
+       0.0
+      ],
+      [
+       -0.57,
+       0.82,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 6.83
+   }
+  ],
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.93,
+      2.52,
+      -0.02
+     ],
+     "3D oriented bounding box dimensions": [
+      0.81,
+      0.96,
+      0.62
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.55,
+       0.84,
+       0.0
+      ],
+      [
+       -0.84,
+       -0.55,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   },
+   {
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+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/7bc286c1b6.json b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/7bc286c1b6.json
new file mode 100644
index 0000000000000000000000000000000000000000..a395987dd2607435f10df872799f0cd29314675c
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/7bc286c1b6.json	
@@ -0,0 +1,420 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "ceiling light": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.18,
+      0.98,
+      0.66
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.01,
+      0.07
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+       0.0
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+      [
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+       0.0,
+       1.0
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+    "first visible time": 0.33
+   }
+  ],
+  "door": [
+   {
+    "3D oriented bounding box": {
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+      0.42,
+      0.0
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.04
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+      [
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+       0.0,
+       1.0
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+    "first visible time": 2.17
+   },
+   {
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+     "3D oriented bounding box dimensions": [
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+      0.21,
+      0.02
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+     "3D oriented bounding box orientation unit vectors": [
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+      [
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+       0.0,
+       1.0
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+     ]
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+    "first visible time": 0.67
+   },
+   {
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+      -0.51,
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+     "3D oriented bounding box dimensions": [
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+      0.03
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+     "3D oriented bounding box orientation unit vectors": [
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+   },
+   {
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+     "3D oriented bounding box dimensions": [
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+     "3D oriented bounding box orientation unit vectors": [
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+     ]
+    },
+    "first visible time": 10.33
+   }
+  ],
+  "toilet": [
+   {
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+     ],
+     "3D oriented bounding box dimensions": [
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.0,
+       1.0
+      ]
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+    },
+    "first visible time": 0.0
+   }
+  ],
+  "trash can": [
+   {
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+      0.34,
+      1.06
+     ],
+     "3D oriented bounding box dimensions": [
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+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+      [
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+      ]
+     ]
+    },
+    "first visible time": 8.17
+   }
+  ],
+  "whiteboard": [
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+     "3D oriented bounding box dimensions": [
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+     "3D oriented bounding box orientation unit vectors": [
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+       1.0
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+   }
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+      -0.53
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+     [
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+     [
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+     ],
+     [
+      -1.33,
+      1.77
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/99fa5c25e1.json b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/99fa5c25e1.json
new file mode 100644
index 0000000000000000000000000000000000000000..be1e4255b66dd55504f700f336b24242633399be
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/99fa5c25e1.json	
@@ -0,0 +1,2845 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "bucket": [
+   {
+    "3D oriented bounding box": {
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+      -1.27,
+      -0.65
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.21,
+      0.2
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.0
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+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
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+    "first visible time": 6.83
+   },
+   {
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+      -1.26,
+      -0.59
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+      0.23,
+      0.09
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+     "3D oriented bounding box orientation unit vectors": [
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+      [
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+       0.0,
+       1.0
+      ]
+     ]
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+    "first visible time": 9.67
+   }
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+  "ceiling light": [
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+   },
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+   }
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+      0.16
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+     "3D oriented bounding box orientation unit vectors": [
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+       1.0
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+    "first visible time": 8.17
+   }
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+      ],
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 8.17
+   }
+  ],
+  "door": [
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+    "3D oriented bounding box": {
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+      -1.78,
+      -0.03
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+       0.0,
+       1.0
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+    },
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+   },
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+      1.39,
+      0.07
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.36,
+      0.66
+     ],
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+       0.0,
+       1.0
+      ]
+     ]
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+    "first visible time": 4.33
+   }
+  ],
+  "keyboard": [
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+      -3.62,
+      0.23
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+      [
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.17
+   }
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+  "laptop": [
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+      -3.56,
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+    },
+    "first visible time": 0.83
+   }
+  ],
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+      -3.74,
+      0.41
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+       0.0,
+       1.0
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+     ]
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+   },
+   {
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+      -0.23,
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+     [
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+     [
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+     [
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+     [
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+     [
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+     [
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+     ],
+     [
+      -1.19,
+      0.9
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/a980334473.json b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/a980334473.json
new file mode 100644
index 0000000000000000000000000000000000000000..f97cc51eedf9f456d196eda15af3d77894b452bd
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/a980334473.json	
@@ -0,0 +1,602 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "ceiling light": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.59,
+      -0.43,
+      0.12
+     ],
+     "3D oriented bounding box dimensions": [
+      0.17,
+      0.04,
+      1.32
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.45,
+       0.89,
+       0.0
+      ],
+      [
+       -0.89,
+       -0.45,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   }
+  ],
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.07,
+      0.56,
+      1.39
+     ],
+     "3D oriented bounding box dimensions": [
+      0.35,
+      0.29,
+      0.55
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.61,
+       0.0
+      ],
+      [
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+       0.79,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.17
+   }
+  ],
+  "door": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      -0.63,
+      0.81
+     ],
+     "3D oriented bounding box dimensions": [
+      1.63,
+      0.05,
+      0.75
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.46,
+       0.0
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+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 8.83
+   }
+  ],
+  "monitor": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      0.13,
+      -0.17
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.13,
+      0.21
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+      [
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 8.17
+   }
+  ],
+  "power strip": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      0.92,
+      1.9
+     ],
+     "3D oriented bounding box dimensions": [
+      0.01,
+      0.07,
+      0.26
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.0
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+      [
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 5.83
+   }
+  ],
+  "printer": [
+   {
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+     "3D oriented bounding box center coordinates": [
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+      0.2,
+      -0.2
+     ],
+     "3D oriented bounding box dimensions": [
+      1.09,
+      0.67,
+      0.5
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.03,
+       0.0
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+       1.0,
+       0.0
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+      [
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.17
+   }
+  ],
+  "table": [
+   {
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+     "3D oriented bounding box center coordinates": [
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+      0.65,
+      0.74
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.63,
+      0.98
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+     "3D oriented bounding box orientation unit vectors": [
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+      [
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+       0.0,
+       1.0
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+    },
+    "first visible time": 0.33
+   }
+  ],
+  "toilet": [
+   {
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+      0.45,
+      1.39
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.05,
+      0.18
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 5.33
+   }
+  ],
+  "trash can": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      0.11,
+      1.57
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.32,
+      0.29
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.77,
+       0.0
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+      [
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+       0.63,
+       0.0
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+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 7.67
+   }
+  ],
+  "whiteboard": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.02,
+      0.51,
+      1.31
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.41,
+      0.23
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.72,
+       0.0
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+      [
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+       0.7,
+       0.0
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+      [
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+       0.0,
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+      ]
+     ]
+    },
+    "first visible time": 8.0
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
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+      -0.7
+     ],
+     [
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+     [
+      -1.4,
+      0.7
+     ],
+     [
+      -1.5,
+      0.6
+     ],
+     [
+      -1.6,
+      0.6
+     ],
+     [
+      -1.7,
+      0.5
+     ],
+     [
+      -2.0,
+      0.5
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/bde1e479ad.json b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/bde1e479ad.json
new file mode 100644
index 0000000000000000000000000000000000000000..c94240c8948f5fcc9f0c4e8a700b9c9c067a0d16
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/bde1e479ad.json	
@@ -0,0 +1,1112 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "ceiling light": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.11,
+      2.72,
+      2.17
+     ],
+     "3D oriented bounding box dimensions": [
+      0.47,
+      1.36,
+      0.1
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.96,
+       -0.28,
+       0.0
+      ],
+      [
+       0.28,
+       0.96,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      -1.17,
+      2.12
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.34,
+      0.03
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       1.0,
+       0.0
+      ],
+      [
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+       0.01,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.33
+   },
+   {
+    "3D oriented bounding box": {
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+      4.19,
+      2.14
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.32,
+      0.03
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       -0.04,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.67
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      0.67,
+      2.15
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.35,
+      0.01
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.99,
+       0.0
+      ],
+      [
+       -0.99,
+       -0.15,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 7.67
+   }
+  ],
+  "chair": [
+   {
+    "3D oriented bounding box": {
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+      2.2,
+      -0.06
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.56,
+      0.75
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.33,
+       0.0
+      ],
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+       0.94,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      -1.52,
+      -0.07
+     ],
+     "3D oriented bounding box dimensions": [
+      0.71,
+      0.54,
+      0.35
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.7,
+       0.0
+      ],
+      [
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+       0.71,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.83
+   },
+   {
+    "3D oriented bounding box": {
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+      5.0,
+      -0.13
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.51,
+      0.8
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.99,
+       0.0
+      ],
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+       0.11,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.67
+   },
+   {
+    "3D oriented bounding box": {
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+      0.21,
+      -0.06
+     ],
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+     "3D oriented bounding box orientation unit vectors": [
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+      ],
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+       0.0,
+       1.0
+      ]
+     ]
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+   },
+   {
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+      0.26,
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+     ],
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+      0.07,
+      0.28
+     ],
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+       -0.05,
+       0.0
+      ],
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+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.33
+   },
+   {
+    "3D oriented bounding box": {
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+      -1.22,
+      -0.23
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.68,
+      0.58
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.86,
+       0.0
+      ],
+      [
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+       -0.51,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 6.83
+   }
+  ],
+  "clock": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      2.13,
+      1.95
+     ],
+     "3D oriented bounding box dimensions": [
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+      ],
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.5
+   }
+  ],
+  "door": [
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+     ],
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+   },
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+      2.36,
+      0.74
+     ],
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+      ]
+     ]
+    },
+    "first visible time": 7.5
+   }
+  ],
+  "monitor": [
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+      2.23,
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+       0.0,
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+      ]
+     ]
+    },
+    "first visible time": 5.0
+   }
+  ],
+  "power strip": [
+   {
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+      -0.51,
+      -0.21
+     ],
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+      0.43,
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+     ],
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.0
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
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+      1.62,
+      0.0
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+      0.56
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+    "first visible time": 0.0
+   }
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+  "toilet": [
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+      -1.52,
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+   }
+  ],
+  "trash can": [
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+      -0.91,
+      -0.46
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+   }
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+      0.32
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+   },
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+      4.32,
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+     ],
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+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       1.0,
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+      ],
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+       0.0,
+       1.0
+      ]
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+    "first visible time": 9.67
+   },
+   {
+    "3D oriented bounding box": {
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+      4.18,
+      0.32
+     ],
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+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.0,
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+   },
+   {
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+      4.06,
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+     ],
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+       0.0,
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+      ]
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+    },
+    "first visible time": 8.17
+   },
+   {
+    "3D oriented bounding box": {
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+      3.94,
+      0.31
+     ],
+     "3D oriented bounding box dimensions": [
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+   },
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+     ]
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+   },
+   {
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+       1.0
+      ]
+     ]
+    },
+    "first visible time": 8.17
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
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+      -1.98
+     ],
+     [
+      -1.96,
+      -1.98
+     ],
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+     [
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+     [
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+      -1.38
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+      -1.28
+     ],
+     [
+      5.14,
+      -0.58
+     ],
+     [
+      5.24,
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+     ],
+     [
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+     ],
+     [
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+     [
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+      5.52
+     ],
+     [
+      -2.26,
+      5.52
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/e398684d27.json b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/e398684d27.json
new file mode 100644
index 0000000000000000000000000000000000000000..d9567b603a14c8b3150c54d4e397e81917d19490
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/e398684d27.json	
@@ -0,0 +1,706 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
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+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
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+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
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+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
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+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
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+ },
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+   }
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+     ],
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+     ],
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+     ],
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+     ],
+     [
+      -0.83,
+      2.59
+     ],
+     [
+      -0.83,
+      2.39
+     ],
+     [
+      -0.93,
+      2.29
+     ],
+     [
+      -0.93,
+      2.19
+     ],
+     [
+      -1.03,
+      2.09
+     ],
+     [
+      -1.23,
+      2.09
+     ],
+     [
+      -1.63,
+      1.69
+     ],
+     [
+      -1.73,
+      1.69
+     ],
+     [
+      -1.83,
+      1.59
+     ],
+     [
+      -2.03,
+      1.59
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/f9f95681fd.json b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/f9f95681fd.json
new file mode 100644
index 0000000000000000000000000000000000000000..37859194aea46b68b8344f5619697d63e8bd7a86
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/f9f95681fd.json	
@@ -0,0 +1,948 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "basket": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      0.79,
+      -1.89
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.09,
+      0.13
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.99,
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+      ],
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+       0.0
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+       0.0,
+       1.0
+      ]
+     ]
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+    "first visible time": 2.83
+   },
+   {
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+      0.92,
+      -1.24
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.06,
+      0.29
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.95,
+       0.0
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+      [
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+       0.0
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+      [
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   }
+  ],
+  "bowl": [
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+    "3D oriented bounding box": {
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+      1.04,
+      -1.26
+     ],
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+      0.07,
+      0.19
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.0,
+       1.0
+      ]
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+    },
+    "first visible time": 3.67
+   },
+   {
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+      0.72,
+      -1.63
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.07,
+      0.07
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.97,
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+      ],
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.67
+   }
+  ],
+  "ceiling light": [
+   {
+    "3D oriented bounding box": {
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+      0.38,
+      -0.37
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.05,
+      0.23
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.0
+   },
+   {
+    "3D oriented bounding box": {
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+      1.02,
+      -1.08
+     ],
+     "3D oriented bounding box dimensions": [
+      0.11,
+      0.01,
+      0.13
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.23,
+       0.97,
+       0.0
+      ],
+      [
+       -0.97,
+       0.23,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.5
+   }
+  ],
+  "cup": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.03,
+      0.73,
+      -1.63
+     ],
+     "3D oriented bounding box dimensions": [
+      0.1,
+      0.07,
+      0.08
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.25,
+       0.97,
+       0.0
+      ],
+      [
+       -0.97,
+       -0.25,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.67
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.87,
+      0.19,
+      -1.89
+     ],
+     "3D oriented bounding box dimensions": [
+      0.13,
+      0.08,
+      0.09
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.96,
+       -0.29,
+       0.0
+      ],
+      [
+       0.29,
+       0.96,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.33
+   }
+  ],
+  "cutting board": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.54,
+      0.85,
+      -0.95
+     ],
+     "3D oriented bounding box dimensions": [
+      0.37,
+      0.35,
+      0.05
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.98,
+       -0.2,
+       0.0
+      ],
+      [
+       0.2,
+       0.98,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   }
+  ],
+  "door": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.95,
+      0.31,
+      -0.02
+     ],
+     "3D oriented bounding box dimensions": [
+      1.18,
+      0.96,
+      0.57
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.86,
+       -0.52,
+       0.0
+      ],
+      [
+       0.52,
+       0.86,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.16,
+      0.17,
+      -1.21
+     ],
+     "3D oriented bounding box dimensions": [
+      0.82,
+      0.12,
+      0.6
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.93,
+       -0.38,
+       0.0
+      ],
+      [
+       0.38,
+       0.93,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.78,
+      0.58,
+      -0.65
+     ],
+     "3D oriented bounding box dimensions": [
+      0.71,
+      0.8,
+      1.01
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.02,
+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       0.02,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 5.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.15,
+      1.21,
+      -1.7
+     ],
+     "3D oriented bounding box dimensions": [
+      1.01,
+      0.02,
+      0.4
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.97,
+       -0.22,
+       0.0
+      ],
+      [
+       0.22,
+       0.97,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.22,
+      -0.68,
+      -0.57
+     ],
+     "3D oriented bounding box dimensions": [
+      0.56,
+      0.2,
+      0.61
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       0.04,
+       0.0
+      ],
+      [
+       -0.04,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 6.0
+   }
+  ],
+  "exhaust fan": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.59,
+      -0.06,
+      -0.98
+     ],
+     "3D oriented bounding box dimensions": [
+      0.14,
+      0.05,
+      0.11
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.46,
+       0.89,
+       0.0
+      ],
+      [
+       -0.89,
+       -0.46,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 8.5
+   }
+  ],
+  "kettle": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.9,
+      0.52,
+      -1.63
+     ],
+     "3D oriented bounding box dimensions": [
+      0.24,
+      0.15,
+      0.16
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.84,
+       -0.55,
+       0.0
+      ],
+      [
+       0.55,
+       0.84,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.17
+   }
+  ],
+  "laptop": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.94,
+      0.94,
+      -1.58
+     ],
+     "3D oriented bounding box dimensions": [
+      0.32,
+      0.28,
+      0.53
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.96,
+       -0.29,
+       0.0
+      ],
+      [
+       0.29,
+       0.96,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.17
+   }
+  ],
+  "microwave": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.57,
+      -0.85,
+      -0.56
+     ],
+     "3D oriented bounding box dimensions": [
+      0.26,
+      0.32,
+      0.53
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.94,
+       -0.35,
+       0.0
+      ],
+      [
+       0.35,
+       0.94,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 5.67
+   }
+  ],
+  "power strip": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.12,
+      1.05,
+      -1.47
+     ],
+     "3D oriented bounding box dimensions": [
+      0.14,
+      0.08,
+      0.06
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.32,
+       0.95,
+       0.0
+      ],
+      [
+       -0.95,
+       -0.32,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.17
+   }
+  ],
+  "refrigerator": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.33,
+      -0.68,
+      -0.68
+     ],
+     "3D oriented bounding box dimensions": [
+      0.71,
+      0.05,
+      0.25
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.97,
+       -0.26,
+       0.0
+      ],
+      [
+       0.26,
+       0.97,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 9.17
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.94,
+      0.1,
+      -1.41
+     ],
+     "3D oriented bounding box dimensions": [
+      0.76,
+      0.05,
+      1.03
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.23,
+       0.97,
+       0.0
+      ],
+      [
+       -0.97,
+       0.23,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.5
+   }
+  ],
+  "trash can": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.57,
+      -0.24,
+      -1.71
+     ],
+     "3D oriented bounding box dimensions": [
+      0.27,
+      0.34,
+      0.25
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.97,
+       -0.25,
+       0.0
+      ],
+      [
+       0.25,
+       0.97,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.33
+   }
+  ],
+  "whiteboard": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.23,
+      -0.22,
+      -1.92
+     ],
+     "3D oriented bounding box dimensions": [
+      0.35,
+      0.27,
+      0.0
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.31,
+       0.95,
+       0.0
+      ],
+      [
+       -0.95,
+       -0.31,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 7.17
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -0.86,
+      -0.76
+     ],
+     [
+      -0.36,
+      -0.76
+     ],
+     [
+      -0.26,
+      -0.86
+     ],
+     [
+      -0.06,
+      -0.86
+     ],
+     [
+      0.04,
+      -0.96
+     ],
+     [
+      0.04,
+      -1.26
+     ],
+     [
+      1.64,
+      -1.26
+     ],
+     [
+      1.64,
+      -0.96
+     ],
+     [
+      1.74,
+      -0.86
+     ],
+     [
+      1.94,
+      -0.86
+     ],
+     [
+      1.94,
+      1.04
+     ],
+     [
+      1.74,
+      1.04
+     ],
+     [
+      1.64,
+      1.14
+     ],
+     [
+      1.34,
+      1.14
+     ],
+     [
+      1.24,
+      1.24
+     ],
+     [
+      1.24,
+      1.44
+     ],
+     [
+      -0.56,
+      1.44
+     ],
+     [
+      -0.56,
+      1.04
+     ],
+     [
+      -0.66,
+      0.94
+     ],
+     [
+      -0.86,
+      0.94
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/fb5a96b1a2.json b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/fb5a96b1a2.json
new file mode 100644
index 0000000000000000000000000000000000000000..55d338195782bb54fbdb36af8290203685293d9e
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/fb5a96b1a2.json	
@@ -0,0 +1,2482 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "bookshelf": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.49,
+      -0.9,
+      0.23
+     ],
+     "3D oriented bounding box dimensions": [
+      1.03,
+      0.43,
+      1.76
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.94,
+       -0.34,
+       0.0
+      ],
+      [
+       0.34,
+       0.94,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.33
+   }
+  ],
+  "ceiling light": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.39,
+      1.76,
+      1.77
+     ],
+     "3D oriented bounding box dimensions": [
+      0.25,
+      0.44,
+      0.22
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.95,
+       -0.31,
+       0.0
+      ],
+      [
+       0.31,
+       0.95,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.93,
+      2.91,
+      1.85
+     ],
+     "3D oriented bounding box dimensions": [
+      0.17,
+      0.2,
+      0.21
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.03,
+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       -0.03,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.48,
+      -0.28,
+      1.81
+     ],
+     "3D oriented bounding box dimensions": [
+      0.15,
+      0.2,
+      0.22
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.1,
+       0.99,
+       0.0
+      ],
+      [
+       -0.99,
+       0.1,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.86,
+      4.35,
+      1.78
+     ],
+     "3D oriented bounding box dimensions": [
+      0.1,
+      0.11,
+      0.17
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.63,
+       0.78,
+       0.0
+      ],
+      [
+       -0.78,
+       -0.63,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.69,
+      1.1,
+      1.83
+     ],
+     "3D oriented bounding box dimensions": [
+      0.12,
+      0.17,
+      0.18
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.58,
+       0.82,
+       0.0
+      ],
+      [
+       -0.82,
+       0.58,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -3.31,
+      2.8,
+      1.57
+     ],
+     "3D oriented bounding box dimensions": [
+      0.26,
+      0.06,
+      0.15
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.02,
+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       0.02,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.51,
+      -0.57,
+      1.8
+     ],
+     "3D oriented bounding box dimensions": [
+      0.21,
+      0.34,
+      0.2
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.83,
+       -0.56,
+       0.0
+      ],
+      [
+       0.56,
+       0.83,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 7.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -3.4,
+      1.14,
+      1.66
+     ],
+     "3D oriented bounding box dimensions": [
+      0.09,
+      0.08,
+      0.15
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.39,
+       0.92,
+       0.0
+      ],
+      [
+       -0.92,
+       0.39,
+       0.0
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+    "first visible time": 0.0
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+      4.72,
+      0.41
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+    "first visible time": 1.17
+   }
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+  "trash can": [
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+    "3D oriented bounding box": {
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+      4.35,
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+     "3D oriented bounding box orientation unit vectors": [
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+    },
+    "first visible time": 1.33
+   }
+  ],
+  "tv": [
+   {
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+      -0.64,
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+     ],
+     "3D oriented bounding box dimensions": [
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+     "3D oriented bounding box orientation unit vectors": [
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+   }
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+  "whiteboard": [
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+     ],
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+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
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+     [
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+     [
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+     ],
+     [
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+     ],
+     [
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+     ],
+     [
+      -2.03,
+      5.0
+     ],
+     [
+      -2.23,
+      4.8
+     ],
+     [
+      -2.33,
+      4.8
+     ],
+     [
+      -2.73,
+      4.4
+     ],
+     [
+      -2.83,
+      4.4
+     ],
+     [
+      -3.03,
+      4.2
+     ],
+     [
+      -3.03,
+      4.1
+     ],
+     [
+      -3.23,
+      3.9
+     ],
+     [
+      -3.23,
+      3.8
+     ],
+     [
+      -3.33,
+      3.7
+     ],
+     [
+      -3.33,
+      3.5
+     ],
+     [
+      -3.43,
+      3.4
+     ],
+     [
+      -3.43,
+      3.2
+     ],
+     [
+      -3.53,
+      3.1
+     ],
+     [
+      -3.73,
+      3.1
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/scene0030_02.json b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/scene0030_02.json
new file mode 100644
index 0000000000000000000000000000000000000000..b475d23ea7f6e41e7f3a51c7554a440cd3726b79
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/scene0030_02.json	
@@ -0,0 +1,1628 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
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+     [
+      -2.29,
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+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/scene0095_01.json b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/scene0095_01.json
new file mode 100644
index 0000000000000000000000000000000000000000..5eacb1f07b334abdd23a20e2c0a2e080cf8cbf2f
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/scene0095_01.json	
@@ -0,0 +1,1734 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      3.75,
+      -0.11
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.39,
+      0.72
+     ],
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+      [
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+       0.0,
+       1.0
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+   },
+   {
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+      0.47,
+      -0.21
+     ],
+     "3D oriented bounding box dimensions": [
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+      1.06,
+      0.7
+     ],
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+       1.0
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+   },
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+    "first visible time": 7.0
+   },
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+      -0.09
+     ],
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+   },
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+   },
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+     "3D oriented bounding box dimensions": [
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+     "3D oriented bounding box orientation unit vectors": [
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+    "first visible time": 2.0
+   }
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+   {
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+      3.68,
+      -0.01
+     ],
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+      ],
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+     ]
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+    "first visible time": 0.67
+   },
+   {
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+      0.55,
+      0.0
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+   },
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+   }
+  ],
+  "door": [
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+      -0.28
+     ],
+     "3D oriented bounding box dimensions": [
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+   },
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+      -0.27
+     ],
+     "3D oriented bounding box dimensions": [
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+    "first visible time": 0.17
+   },
+   {
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+     ],
+     "3D oriented bounding box dimensions": [
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+     "3D oriented bounding box orientation unit vectors": [
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+     ],
+     [
+      -1.26,
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+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/scene0164_02.json b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/scene0164_02.json
new file mode 100644
index 0000000000000000000000000000000000000000..67b0a8abe28f91349693a37bf241e80282019751
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/scene0164_02.json	
@@ -0,0 +1,738 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "backpack": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.06,
+      1.58,
+      1.26
+     ],
+     "3D oriented bounding box dimensions": [
+      0.51,
+      0.15,
+      0.36
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.56,
+       0.83,
+       0.0
+      ],
+      [
+       -0.83,
+       0.56,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 8.67
+   }
+  ],
+  "counter": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.17,
+      0.7,
+      1.76
+     ],
+     "3D oriented bounding box dimensions": [
+      1.4,
+      0.24,
+      0.96
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.99,
+       -0.16,
+       0.0
+      ],
+      [
+       0.16,
+       0.99,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.0
+   }
+  ],
+  "door": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.33,
+      0.61,
+      -0.08
+     ],
+     "3D oriented bounding box dimensions": [
+      0.76,
+      0.5,
+      0.21
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.17,
+       0.98,
+       0.0
+      ],
+      [
+       -0.98,
+       0.17,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.66,
+      1.09,
+      1.38
+     ],
+     "3D oriented bounding box dimensions": [
+      1.04,
+      0.69,
+      0.27
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.23,
+       0.97,
+       0.0
+      ],
+      [
+       -0.97,
+       0.23,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 7.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.28,
+      0.59,
+      0.02
+     ],
+     "3D oriented bounding box dimensions": [
+      0.82,
+      0.55,
+      0.16
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.95,
+       -0.33,
+       0.0
+      ],
+      [
+       0.33,
+       0.95,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.75,
+      0.46,
+      1.57
+     ],
+     "3D oriented bounding box dimensions": [
+      0.74,
+      0.46,
+      0.47
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       0.0,
+       0.0
+      ],
+      [
+       0.0,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      0.11,
+      1.99
+     ],
+     "3D oriented bounding box dimensions": [
+      0.69,
+      0.51,
+      0.15
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.87,
+       0.0
+      ],
+      [
+       -0.87,
+       0.5,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.66,
+      1.01,
+      1.15
+     ],
+     "3D oriented bounding box dimensions": [
+      0.67,
+      0.03,
+      0.45
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.14,
+       0.99,
+       0.0
+      ],
+      [
+       -0.99,
+       0.14,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.83
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.42,
+      1.08,
+      1.41
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.67,
+      0.15
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.82,
+       -0.57,
+       0.0
+      ],
+      [
+       0.57,
+       0.82,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.83
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.62,
+      0.9,
+      0.74
+     ],
+     "3D oriented bounding box dimensions": [
+      0.68,
+      0.02,
+      0.46
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.13,
+       0.99,
+       0.0
+      ],
+      [
+       -0.99,
+       0.13,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.07,
+      -0.38,
+      -0.04
+     ],
+     "3D oriented bounding box dimensions": [
+      0.75,
+      0.53,
+      0.17
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.29,
+       0.96,
+       0.0
+      ],
+      [
+       -0.96,
+       -0.29,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.04,
+      1.03,
+      1.47
+     ],
+     "3D oriented bounding box dimensions": [
+      0.47,
+      0.26,
+      0.08
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       -0.09,
+       0.0
+      ],
+      [
+       0.09,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 5.0
+   }
+  ],
+  "microwave": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.72,
+      -0.06,
+      -0.19
+     ],
+     "3D oriented bounding box dimensions": [
+      0.57,
+      0.32,
+      0.24
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.99,
+       0.16,
+       0.0
+      ],
+      [
+       -0.16,
+       0.99,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.83
+   }
+  ],
+  "oven": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.28,
+      0.6,
+      0.02
+     ],
+     "3D oriented bounding box dimensions": [
+      0.87,
+      0.62,
+      0.18
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.89,
+       -0.45,
+       0.0
+      ],
+      [
+       0.45,
+       0.89,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.33
+   }
+  ],
+  "plant": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.19,
+      0.36,
+      0.05
+     ],
+     "3D oriented bounding box dimensions": [
+      0.07,
+      0.02,
+      0.03
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.3,
+       0.95,
+       0.0
+      ],
+      [
+       -0.95,
+       0.3,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 9.33
+   }
+  ],
+  "refrigerator": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.68,
+      0.86,
+      1.65
+     ],
+     "3D oriented bounding box dimensions": [
+      1.27,
+      0.7,
+      0.66
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.17,
+       0.99,
+       0.0
+      ],
+      [
+       -0.99,
+       0.17,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.5
+   }
+  ],
+  "towel": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.19,
+      0.53,
+      0.06
+     ],
+     "3D oriented bounding box dimensions": [
+      0.44,
+      0.16,
+      0.13
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.11,
+       0.99,
+       0.0
+      ],
+      [
+       -0.99,
+       0.11,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.33
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -2.37,
+      1.28
+     ],
+     [
+      -1.97,
+      1.28
+     ],
+     [
+      -1.87,
+      1.38
+     ],
+     [
+      -1.47,
+      1.38
+     ],
+     [
+      -1.37,
+      1.28
+     ],
+     [
+      -1.37,
+      0.68
+     ],
+     [
+      -1.47,
+      0.58
+     ],
+     [
+      -1.47,
+      -1.12
+     ],
+     [
+      1.23,
+      -1.12
+     ],
+     [
+      1.23,
+      0.78
+     ],
+     [
+      0.83,
+      0.78
+     ],
+     [
+      0.73,
+      0.88
+     ],
+     [
+      0.73,
+      1.48
+     ],
+     [
+      0.63,
+      1.48
+     ],
+     [
+      0.53,
+      1.58
+     ],
+     [
+      0.03,
+      1.58
+     ],
+     [
+      -0.07,
+      1.68
+     ],
+     [
+      -0.07,
+      1.88
+     ],
+     [
+      -2.37,
+      1.88
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/scene0207_02.json b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/scene0207_02.json
new file mode 100644
index 0000000000000000000000000000000000000000..0164900ed67908e2be7a6bb500dfeac9baf40412
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/scene0207_02.json	
@@ -0,0 +1,1610 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "backpack": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.72,
+      1.13,
+      4.49
+     ],
+     "3D oriented bounding box dimensions": [
+      0.73,
+      0.2,
+      0.42
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.88,
+       -0.48,
+       0.0
+      ],
+      [
+       0.48,
+       0.88,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.34,
+      1.01,
+      5.95
+     ],
+     "3D oriented bounding box dimensions": [
+      0.38,
+      0.18,
+      0.52
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.97,
+       0.25,
+       0.0
+      ],
+      [
+       -0.25,
+       0.97,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.21,
+      1.38,
+      3.97
+     ],
+     "3D oriented bounding box dimensions": [
+      0.46,
+      0.27,
+      0.28
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.68,
+       0.73,
+       0.0
+      ],
+      [
+       -0.73,
+       -0.68,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 9.5
+   }
+  ],
+  "bed": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.02,
+      1.0,
+      5.1
+     ],
+     "3D oriented bounding box dimensions": [
+      1.08,
+      0.75,
+      1.87
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.7,
+       0.72,
+       0.0
+      ],
+      [
+       -0.72,
+       0.7,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   }
+  ],
+  "bookshelf": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.86,
+      -0.04,
+      6.14
+     ],
+     "3D oriented bounding box dimensions": [
+      1.25,
+      0.88,
+      0.27
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.4,
+       0.92,
+       0.0
+      ],
+      [
+       -0.92,
+       0.4,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.5
+   }
+  ],
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.16,
+      1.18,
+      5.03
+     ],
+     "3D oriented bounding box dimensions": [
+      0.9,
+      0.58,
+      0.58
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.1,
+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       0.1,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.25,
+      0.93,
+      5.8
+     ],
+     "3D oriented bounding box dimensions": [
+      0.31,
+      0.1,
+      0.37
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.18,
+       0.98,
+       0.0
+      ],
+      [
+       -0.98,
+       -0.18,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.17
+   }
+  ],
+  "closet": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.23,
+      0.75,
+      2.95
+     ],
+     "3D oriented bounding box dimensions": [
+      1.37,
+      0.75,
+      0.2
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.1,
+       0.99,
+       0.0
+      ],
+      [
+       -0.99,
+       -0.1,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.0
+   }
+  ],
+  "counter": [
+   {
+    "3D oriented bounding box": {
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+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   }
+  ],
+  "tv": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.95,
+      0.51,
+      5.21
+     ],
+     "3D oriented bounding box dimensions": [
+      0.3,
+      0.04,
+      0.44
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.11,
+       0.99,
+       0.0
+      ],
+      [
+       -0.99,
+       0.11,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.17
+   }
+  ],
+  "window": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.18,
+      0.53,
+      6.32
+     ],
+     "3D oriented bounding box dimensions": [
+      0.67,
+      0.93,
+      0.15
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.99,
+       -0.17,
+       0.0
+      ],
+      [
+       0.17,
+       0.99,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.7,
+      0.56,
+      6.27
+     ],
+     "3D oriented bounding box dimensions": [
+      1.14,
+      0.7,
+      0.12
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.04,
+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       0.04,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.17
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -3.19,
+      -1.01
+     ],
+     [
+      1.51,
+      -1.01
+     ],
+     [
+      1.51,
+      1.29
+     ],
+     [
+      1.01,
+      1.29
+     ],
+     [
+      0.91,
+      1.39
+     ],
+     [
+      0.91,
+      1.69
+     ],
+     [
+      -2.59,
+      1.69
+     ],
+     [
+      -2.59,
+      1.49
+     ],
+     [
+      -2.69,
+      1.39
+     ],
+     [
+      -2.89,
+      1.39
+     ],
+     [
+      -2.89,
+      1.29
+     ],
+     [
+      -2.99,
+      1.19
+     ],
+     [
+      -3.19,
+      1.19
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/scene0221_01.json b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/scene0221_01.json
new file mode 100644
index 0000000000000000000000000000000000000000..4689c0462e9fee4054566b7e84912d9e92aa92c4
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/scene0221_01.json	
@@ -0,0 +1,1380 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "bed": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.05,
+      -3.45,
+      -0.08
+     ],
+     "3D oriented bounding box dimensions": [
+      1.38,
+      1.74,
+      0.47
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.78,
+       0.63,
+       0.0
+      ],
+      [
+       -0.63,
+       0.78,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.09,
+      -1.84,
+      -0.07
+     ],
+     "3D oriented bounding box dimensions": [
+      1.83,
+      1.25,
+      0.4
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.85,
+       0.53,
+       0.0
+      ],
+      [
+       -0.53,
+       0.85,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.0
+   }
+  ],
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.49,
+      -3.53,
+      0.13
+     ],
+     "3D oriented bounding box dimensions": [
+      0.57,
+      0.52,
+      0.99
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.79,
+       0.0
+      ],
+      [
+       -0.79,
+       0.61,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 8.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.23,
+      -2.0,
+      -0.11
+     ],
+     "3D oriented bounding box dimensions": [
+      0.68,
+      0.15,
+      0.73
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.06,
+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       0.06,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 7.83
+   }
+  ],
+  "clock": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.56,
+      -2.17,
+      0.22
+     ],
+     "3D oriented bounding box dimensions": [
+      0.1,
+      0.02,
+      0.04
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.61,
+       0.79,
+       0.0
+      ],
+      [
+       -0.79,
+       -0.61,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 9.17
+   }
+  ],
+  "closet": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.53,
+      0.74,
+      0.31
+     ],
+     "3D oriented bounding box dimensions": [
+      1.11,
+      0.7,
+      0.73
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.62,
+       0.78,
+       0.0
+      ],
+      [
+       -0.78,
+       0.62,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 10.5
+   }
+  ],
+  "counter": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.02,
+      -0.45,
+      0.19
+     ],
+     "3D oriented bounding box dimensions": [
+      0.75,
+      1.11,
+      0.06
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.92,
+       0.39,
+       0.0
+      ],
+      [
+       -0.39,
+       0.92,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.17
+   }
+  ],
+  "door": [
+   {
+    "3D oriented bounding box": {
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+      0.32,
+      2.33,
+      0.21
+     ],
+     "3D oriented bounding box dimensions": [
+      0.82,
+      0.06,
+      1.73
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       -0.01,
+       0.0
+      ],
+      [
+       0.01,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.8,
+      -0.5,
+      0.34
+     ],
+     "3D oriented bounding box dimensions": [
+      0.78,
+      0.07,
+      1.17
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.04,
+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       0.04,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 9.5
+   }
+  ],
+  "keyboard": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.11,
+      -1.4,
+      0.08
+     ],
+     "3D oriented bounding box dimensions": [
+      0.23,
+      0.09,
+      0.01
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.8,
+       -0.61,
+       0.0
+      ],
+      [
+       0.61,
+       0.8,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.67
+   }
+  ],
+  "lamp": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      -2.55,
+      0.17
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.22,
+      0.78
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.74,
+       0.0
+      ],
+      [
+       -0.74,
+       -0.68,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.67
+   }
+  ],
+  "mattress": [
+   {
+    "3D oriented bounding box": {
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+      -3.47,
+      -0.08
+     ],
+     "3D oriented bounding box dimensions": [
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+      1.32,
+      0.41
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.61,
+       0.0
+      ],
+      [
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+       0.79,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.33
+   },
+   {
+    "3D oriented bounding box": {
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+      -1.79,
+      -0.04
+     ],
+     "3D oriented bounding box dimensions": [
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+      1.18,
+      0.38
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.85,
+       0.52,
+       0.0
+      ],
+      [
+       -0.52,
+       0.85,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      -3.92,
+      -0.04
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.3,
+      0.19
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.98,
+       0.0
+      ],
+      [
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+       -0.19,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 5.67
+   }
+  ],
+  "microwave": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      0.46,
+      0.45
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.2,
+      0.16
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.99,
+       0.0
+      ],
+      [
+       -0.99,
+       -0.14,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      0.31,
+      0.47
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.19,
+      0.2
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.83,
+       0.0
+      ],
+      [
+       -0.83,
+       -0.56,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.67
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      0.62,
+      0.58
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.03,
+      0.14
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       1.0,
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+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.67
+   }
+  ],
+  "mirror": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      -3.44,
+      0.69
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.04,
+      0.81
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       1.0,
+       0.0
+      ],
+      [
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+       0.02,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.33
+   },
+   {
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+      0.65,
+      0.82
+     ],
+     "3D oriented bounding box dimensions": [
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+      1.66,
+      0.83
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.98,
+       0.0
+      ],
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+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.67
+   }
+  ],
+  "nightstand": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      -2.43,
+      -0.24
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.35,
+      0.46
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.99,
+       0.0
+      ],
+      [
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+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.17
+   }
+  ],
+  "pillow": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      -3.46,
+      0.14
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.33,
+      0.28
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       -0.04,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.0
+   },
+   {
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+     "3D oriented bounding box center coordinates": [
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+      -3.88,
+      0.13
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.24,
+      0.32
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       -0.04,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.83
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.97,
+      -1.36,
+      0.18
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.26,
+      0.26
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       0.06,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.19,
+      -2.99,
+      0.16
+     ],
+     "3D oriented bounding box dimensions": [
+      0.46,
+      0.24,
+      0.32
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.57,
+       0.82,
+       0.0
+      ],
+      [
+       -0.82,
+       0.57,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.83
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.18,
+      -1.02,
+      0.24
+     ],
+     "3D oriented bounding box dimensions": [
+      0.55,
+      0.28,
+      0.28
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.02,
+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       0.02,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.17,
+      -1.76,
+      0.21
+     ],
+     "3D oriented bounding box dimensions": [
+      0.74,
+      0.28,
+      0.27
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.1,
+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       -0.1,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.17
+   }
+  ],
+  "radiator": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.9,
+      -5.5,
+      -0.25
+     ],
+     "3D oriented bounding box dimensions": [
+      0.85,
+      0.17,
+      0.34
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.99,
+       -0.1,
+       0.0
+      ],
+      [
+       0.1,
+       0.99,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 6.5
+   }
+  ],
+  "sofa": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.29,
+      -2.0,
+      -0.05
+     ],
+     "3D oriented bounding box dimensions": [
+      0.81,
+      0.36,
+      0.1
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.94,
+       0.33,
+       0.0
+      ],
+      [
+       -0.33,
+       0.94,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.17
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.98,
+      -2.47,
+      -0.09
+     ],
+     "3D oriented bounding box dimensions": [
+      0.93,
+      0.27,
+      0.27
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.13,
+       0.99,
+       0.0
+      ],
+      [
+       -0.99,
+       0.13,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.5
+   }
+  ],
+  "telephone": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.11,
+      -2.51,
+      0.08
+     ],
+     "3D oriented bounding box dimensions": [
+      0.16,
+      0.11,
+      0.29
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.1,
+       0.99,
+       0.0
+      ],
+      [
+       -0.99,
+       0.1,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.5
+   }
+  ],
+  "towel": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.12,
+      -1.43,
+      0.12
+     ],
+     "3D oriented bounding box dimensions": [
+      0.45,
+      0.35,
+      0.12
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.56,
+       0.83,
+       0.0
+      ],
+      [
+       -0.83,
+       -0.56,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.5
+   }
+  ],
+  "trash bin": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.79,
+      0.46,
+      -0.26
+     ],
+     "3D oriented bounding box dimensions": [
+      0.33,
+      0.18,
+      0.25
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.13,
+       0.99,
+       0.0
+      ],
+      [
+       -0.99,
+       -0.13,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.24,
+      1.37,
+      -0.18
+     ],
+     "3D oriented bounding box dimensions": [
+      0.38,
+      0.1,
+      0.23
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.2,
+       0.98,
+       0.0
+      ],
+      [
+       -0.98,
+       0.2,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.83
+   }
+  ],
+  "tv": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.48,
+      -2.9,
+      0.42
+     ],
+     "3D oriented bounding box dimensions": [
+      1.18,
+      0.54,
+      0.59
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.34,
+       0.94,
+       0.0
+      ],
+      [
+       -0.94,
+       -0.34,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 8.5
+   }
+  ],
+  "window": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.39,
+      -3.22,
+      0.76
+     ],
+     "3D oriented bounding box dimensions": [
+      0.19,
+      0.02,
+      0.62
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.02,
+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       0.02,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 7.17
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -0.94,
+      -4.46
+     ],
+     [
+      -0.74,
+      -4.46
+     ],
+     [
+      -0.64,
+      -4.56
+     ],
+     [
+      -0.64,
+      -4.66
+     ],
+     [
+      -0.54,
+      -4.76
+     ],
+     [
+      0.16,
+      -4.76
+     ],
+     [
+      0.36,
+      -4.96
+     ],
+     [
+      0.36,
+      -5.16
+     ],
+     [
+      0.46,
+      -5.26
+     ],
+     [
+      0.46,
+      -5.46
+     ],
+     [
+      0.56,
+      -5.56
+     ],
+     [
+      0.56,
+      -5.76
+     ],
+     [
+      2.56,
+      -5.76
+     ],
+     [
+      2.56,
+      0.84
+     ],
+     [
+      2.26,
+      0.84
+     ],
+     [
+      2.16,
+      0.94
+     ],
+     [
+      2.06,
+      0.94
+     ],
+     [
+      1.76,
+      1.24
+     ],
+     [
+      1.06,
+      1.24
+     ],
+     [
+      0.96,
+      1.34
+     ],
+     [
+      0.96,
+      1.54
+     ],
+     [
+      0.86,
+      1.64
+     ],
+     [
+      0.86,
+      2.54
+     ],
+     [
+      -0.54,
+      2.54
+     ],
+     [
+      -0.54,
+      2.14
+     ],
+     [
+      -0.44,
+      2.04
+     ],
+     [
+      -0.44,
+      1.34
+     ],
+     [
+      -0.64,
+      1.14
+     ],
+     [
+      -0.94,
+      1.14
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/scene0304_00.json b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/scene0304_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..6e3560336cf4da95cdc80bdb4df593424b6f15ad
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/scene0304_00.json	
@@ -0,0 +1,961 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "backpack": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.65,
+      -1.99,
+      -1.52
+     ],
+     "3D oriented bounding box dimensions": [
+      0.55,
+      0.18,
+      0.34
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.19,
+       0.98,
+       0.0
+      ],
+      [
+       -0.98,
+       -0.19,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.33
+   }
+  ],
+  "counter": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.82,
+      -2.04,
+      -1.62
+     ],
+     "3D oriented bounding box dimensions": [
+      1.45,
+      0.4,
+      0.75
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.22,
+       0.97,
+       0.0
+      ],
+      [
+       -0.97,
+       -0.22,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 5.67
+   }
+  ],
+  "door": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.19,
+      2.05,
+      -3.15
+     ],
+     "3D oriented bounding box dimensions": [
+      2.09,
+      0.93,
+      0.09
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.99,
+       0.11,
+       0.0
+      ],
+      [
+       -0.11,
+       0.99,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.97,
+      -1.86,
+      -1.99
+     ],
+     "3D oriented bounding box dimensions": [
+      0.31,
+      0.42,
+      0.05
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.27,
+       0.96,
+       0.0
+      ],
+      [
+       -0.96,
+       -0.27,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.3,
+      -1.99,
+      -1.98
+     ],
+     "3D oriented bounding box dimensions": [
+      0.3,
+      0.35,
+      0.02
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.56,
+       0.83,
+       0.0
+      ],
+      [
+       -0.83,
+       -0.56,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.59,
+      -1.95,
+      -1.97
+     ],
+     "3D oriented bounding box dimensions": [
+      0.32,
+      0.26,
+      0.01
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.05,
+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       0.05,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.25,
+      -1.7,
+      -1.98
+     ],
+     "3D oriented bounding box dimensions": [
+      0.37,
+      0.29,
+      0.02
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.88,
+       -0.48,
+       0.0
+      ],
+      [
+       0.48,
+       0.88,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.2,
+      -1.4,
+      -1.99
+     ],
+     "3D oriented bounding box dimensions": [
+      0.37,
+      0.29,
+      0.01
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.85,
+       -0.53,
+       0.0
+      ],
+      [
+       0.53,
+       0.85,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.85,
+      -1.15,
+      -2.0
+     ],
+     "3D oriented bounding box dimensions": [
+      0.28,
+      0.24,
+      0.01
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.14,
+       0.99,
+       0.0
+      ],
+      [
+       -0.99,
+       -0.14,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.17
+   }
+  ],
+  "plant": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.71,
+      -6.68,
+      3.35
+     ],
+     "3D oriented bounding box dimensions": [
+      0.39,
+      0.11,
+      0.2
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.15,
+       0.99,
+       0.0
+      ],
+      [
+       -0.99,
+       -0.15,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 9.83
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.74,
+      -1.74,
+      -1.66
+     ],
+     "3D oriented bounding box dimensions": [
+      1.63,
+      0.09,
+      0.8
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.15,
+       0.99,
+       0.0
+      ],
+      [
+       -0.99,
+       -0.15,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.33
+   }
+  ],
+  "trash bin": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.63,
+      -3.96,
+      -1.63
+     ],
+     "3D oriented bounding box dimensions": [
+      0.99,
+      0.61,
+      0.48
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       0.07,
+       0.0
+      ],
+      [
+       -0.07,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.27,
+      -2.53,
+      0.1
+     ],
+     "3D oriented bounding box dimensions": [
+      0.67,
+      0.36,
+      0.28
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       0.06,
+       0.0
+      ],
+      [
+       -0.06,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.67
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.34,
+      -4.67,
+      -0.21
+     ],
+     "3D oriented bounding box dimensions": [
+      1.11,
+      0.52,
+      0.6
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.27,
+       0.96,
+       0.0
+      ],
+      [
+       -0.96,
+       -0.27,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.17
+   }
+  ],
+  "window": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.57,
+      -0.66,
+      0.04
+     ],
+     "3D oriented bounding box dimensions": [
+      3.65,
+      1.49,
+      0.1
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.12,
+      2.25,
+      -0.6
+     ],
+     "3D oriented bounding box dimensions": [
+      1.63,
+      0.91,
+      0.86
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.23,
+       0.0
+      ],
+      [
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+       0.97,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.29,
+      -4.06,
+      -4.61
+     ],
+     "3D oriented bounding box dimensions": [
+      1.41,
+      0.5,
+      1.67
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.14,
+       0.0
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+      [
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+       0.99,
+       0.0
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+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 5.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.08,
+      2.29,
+      -0.87
+     ],
+     "3D oriented bounding box dimensions": [
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+      1.02,
+      0.23
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.89,
+       0.0
+      ],
+      [
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+       0.46,
+       0.0
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+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      1.29,
+      -6.37
+     ],
+     [
+      1.39,
+      -6.47
+     ],
+     [
+      1.39,
+      -6.97
+     ],
+     [
+      2.29,
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+     ],
+     [
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+     ],
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+     ],
+     [
+      1.39,
+      -6.07
+     ],
+     [
+      1.29,
+      -6.17
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   },
+   {
+    "outer boundary coordinates": [
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+      -1.97
+     ],
+     [
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+      -1.97
+     ],
+     [
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+     ],
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+     ],
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+     [
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+     ],
+     [
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+     [
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+     ],
+     [
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+     ],
+     [
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+     ],
+     [
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+     ],
+     [
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+      -5.37
+     ],
+     [
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+      -5.27
+     ],
+     [
+      1.79,
+      -4.87
+     ],
+     [
+      1.89,
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+     ],
+     [
+      2.29,
+      -4.77
+     ],
+     [
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+      -2.57
+     ],
+     [
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+      -2.57
+     ],
+     [
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+     ],
+     [
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+     ],
+     [
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+     ],
+     [
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+      -1.37
+     ],
+     [
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+      -1.27
+     ],
+     [
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+      -0.77
+     ],
+     [
+      1.69,
+      -0.67
+     ],
+     [
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+      -0.17
+     ],
+     [
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+      -0.07
+     ],
+     [
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+      0.33
+     ],
+     [
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+      0.43
+     ],
+     [
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+      1.03
+     ],
+     [
+      1.39,
+      1.13
+     ],
+     [
+      1.39,
+      1.63
+     ],
+     [
+      1.29,
+      1.73
+     ],
+     [
+      1.29,
+      2.33
+     ],
+     [
+      1.19,
+      2.43
+     ],
+     [
+      1.19,
+      3.03
+     ],
+     [
+      -0.71,
+      3.03
+     ],
+     [
+      -0.71,
+      2.83
+     ],
+     [
+      -0.81,
+      2.73
+     ],
+     [
+      -1.01,
+      2.73
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/scene0328_00.json b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/scene0328_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..ad0e60aa7e1a997dde01107d1eda8842ddf30903
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/scene0328_00.json	
@@ -0,0 +1,1160 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "counter": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.7,
+      0.58,
+      -0.01
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.08,
+      0.54
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.0
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+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.67
+   },
+   {
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+      0.55,
+      -0.14
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.08,
+      0.84
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.0
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+      [
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.5
+   }
+  ],
+  "door": [
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+      -0.16,
+      0.02
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.62,
+      0.1
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.67
+   },
+   {
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+      0.32,
+      -1.83
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.64,
+      0.06
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.0,
+       1.0
+      ]
+     ]
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+    "first visible time": 4.33
+   },
+   {
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+     ],
+     "3D oriented bounding box dimensions": [
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+      0.54,
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.0,
+       1.0
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+     ]
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+    "first visible time": 0.17
+   },
+   {
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+     ],
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+     "3D oriented bounding box orientation unit vectors": [
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+     "3D oriented bounding box orientation unit vectors": [
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+      -0.92,
+      -0.59
+     ],
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+      -0.89,
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+      [
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+       0.97,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.33
+   }
+  ],
+  "microwave": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.12,
+      -0.18,
+      -0.99
+     ],
+     "3D oriented bounding box dimensions": [
+      0.36,
+      0.05,
+      0.7
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.04,
+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       -0.04,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.15,
+      -0.21,
+      -1.0
+     ],
+     "3D oriented bounding box dimensions": [
+      0.37,
+      0.05,
+      0.7
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       -0.03,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   }
+  ],
+  "mirror": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.31,
+      -0.2,
+      0.02
+     ],
+     "3D oriented bounding box dimensions": [
+      0.52,
+      0.23,
+      0.06
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.02,
+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       0.02,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.83
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.32,
+      -0.16,
+      -2.34
+     ],
+     "3D oriented bounding box dimensions": [
+      0.5,
+      0.4,
+      0.02
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.87,
+       0.5,
+       0.0
+      ],
+      [
+       -0.5,
+       0.87,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.09,
+      -0.25,
+      -0.09
+     ],
+     "3D oriented bounding box dimensions": [
+      0.48,
+      0.12,
+      0.13
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.03,
+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       0.03,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 7.67
+   }
+  ],
+  "oven": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.9,
+      0.64,
+      -1.03
+     ],
+     "3D oriented bounding box dimensions": [
+      0.63,
+      0.05,
+      0.69
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.08,
+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       0.08,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.12,
+      -0.16,
+      -0.99
+     ],
+     "3D oriented bounding box dimensions": [
+      0.34,
+      0.05,
+      0.7
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.04,
+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       -0.04,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.67
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.93,
+      0.9,
+      -1.02
+     ],
+     "3D oriented bounding box dimensions": [
+      0.8,
+      0.04,
+      0.67
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.04,
+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       0.04,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 7.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.14,
+      -0.21,
+      -1.02
+     ],
+     "3D oriented bounding box dimensions": [
+      0.37,
+      0.05,
+      0.7
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.02,
+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       -0.02,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.5
+   }
+  ],
+  "plant": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.15,
+      0.32,
+      0.22
+     ],
+     "3D oriented bounding box dimensions": [
+      0.3,
+      0.1,
+      0.13
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       -0.05,
+       0.0
+      ],
+      [
+       0.05,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   }
+  ],
+  "refrigerator": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.66,
+      0.23,
+      -1.78
+     ],
+     "3D oriented bounding box dimensions": [
+      0.99,
+      0.59,
+      0.05
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.52,
+       0.85,
+       0.0
+      ],
+      [
+       -0.85,
+       -0.52,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   }
+  ],
+  "towel": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.02,
+      0.34,
+      0.23
+     ],
+     "3D oriented bounding box dimensions": [
+      0.19,
+      0.14,
+      0.12
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.09,
+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       -0.09,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 6.33
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -2.29,
+      -1.06
+     ],
+     [
+      1.21,
+      -1.06
+     ],
+     [
+      1.21,
+      -0.66
+     ],
+     [
+      1.31,
+      -0.56
+     ],
+     [
+      1.31,
+      -0.26
+     ],
+     [
+      1.41,
+      -0.16
+     ],
+     [
+      1.61,
+      -0.16
+     ],
+     [
+      1.61,
+      0.64
+     ],
+     [
+      1.21,
+      0.64
+     ],
+     [
+      1.11,
+      0.74
+     ],
+     [
+      1.11,
+      1.44
+     ],
+     [
+      -2.29,
+      1.44
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/scene0356_00.json b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/scene0356_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..3e52879d18f44a2c4e1539716475815adb48f0c3
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/scene0356_00.json	
@@ -0,0 +1,894 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "bed": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.75,
+      -0.58,
+      -0.09
+     ],
+     "3D oriented bounding box dimensions": [
+      1.92,
+      0.88,
+      0.58
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.98,
+       0.2,
+       0.0
+      ],
+      [
+       -0.2,
+       0.98,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.93,
+      -0.29,
+      0.22
+     ],
+     "3D oriented bounding box dimensions": [
+      0.31,
+      0.19,
+      0.61
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.07,
+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       -0.07,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.5
+   }
+  ],
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.9,
+      0.56,
+      -0.07
+     ],
+     "3D oriented bounding box dimensions": [
+      0.47,
+      0.38,
+      0.7
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.83,
+       -0.56,
+       0.0
+      ],
+      [
+       0.56,
+       0.83,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.7,
+      0.72,
+      -0.22
+     ],
+     "3D oriented bounding box dimensions": [
+      0.53,
+      0.27,
+      0.79
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.48,
+       0.88,
+       0.0
+      ],
+      [
+       -0.88,
+       -0.48,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 5.5
+   }
+  ],
+  "door": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.97,
+      -0.06,
+      -0.13
+     ],
+     "3D oriented bounding box dimensions": [
+      0.87,
+      0.04,
+      1.29
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.06,
+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       -0.06,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.02,
+      1.83,
+      -0.22
+     ],
+     "3D oriented bounding box dimensions": [
+      0.86,
+      0.09,
+      0.98
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.42,
+       0.91,
+       0.0
+      ],
+      [
+       -0.91,
+       0.42,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.67
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.46,
+      -0.6,
+      -0.01
+     ],
+     "3D oriented bounding box dimensions": [
+      0.78,
+      0.06,
+      1.35
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.99,
+       0.1,
+       0.0
+      ],
+      [
+       -0.1,
+       0.99,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.13,
+      -0.99,
+      0.01
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.04,
+      1.13
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.99,
+       0.0
+      ],
+      [
+       -0.99,
+       -0.11,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.17
+   }
+  ],
+  "mattress": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.75,
+      -0.62,
+      -0.05
+     ],
+     "3D oriented bounding box dimensions": [
+      1.87,
+      0.82,
+      0.17
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.98,
+       0.19,
+       0.0
+      ],
+      [
+       -0.19,
+       0.98,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.94,
+      -0.3,
+      0.35
+     ],
+     "3D oriented bounding box dimensions": [
+      0.31,
+      0.25,
+      0.23
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.05,
+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       -0.05,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.5
+   }
+  ],
+  "mirror": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.97,
+      -0.15,
+      0.08
+     ],
+     "3D oriented bounding box dimensions": [
+      0.55,
+      0.15,
+      0.94
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.02,
+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       -0.02,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.33
+   }
+  ],
+  "plant": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.97,
+      0.04,
+      0.31
+     ],
+     "3D oriented bounding box dimensions": [
+      1.15,
+      0.39,
+      0.48
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.16,
+       0.99,
+       0.0
+      ],
+      [
+       -0.99,
+       -0.16,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.95,
+      -0.4,
+      0.32
+     ],
+     "3D oriented bounding box dimensions": [
+      0.29,
+      0.12,
+      0.33
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.66,
+       0.75,
+       0.0
+      ],
+      [
+       -0.75,
+       -0.66,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.64,
+      0.99,
+      -0.11
+     ],
+     "3D oriented bounding box dimensions": [
+      0.81,
+      0.52,
+      0.64
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.1,
+       0.99,
+       0.0
+      ],
+      [
+       -0.99,
+       -0.1,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   }
+  ],
+  "telephone": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.02,
+      0.97,
+      0.24
+     ],
+     "3D oriented bounding box dimensions": [
+      0.08,
+      0.05,
+      0.45
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.35,
+       0.94,
+       0.0
+      ],
+      [
+       -0.94,
+       0.35,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
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+     [
+      -1.34,
+      1.32
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/scene0357_01.json b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/scene0357_01.json
new file mode 100644
index 0000000000000000000000000000000000000000..ce727fb799839398557e607f519dd74fc7b2ba3a
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/scene0357_01.json	
@@ -0,0 +1,553 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
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+      "3D oriented bounding box orientation unit vectors": {
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+        [
+         "x",
+         "y",
+         "height"
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+        [
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+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
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+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
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+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
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+        "x",
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+       [
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+        "y"
+       ]
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+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
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+         "y"
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+        [
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+        ]
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+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
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+   }
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+    "interior hole boundary coordinates": []
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+   {
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+     [
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+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/scene0412_00.json b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/scene0412_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..6d718ad24091b731e21f68594a697954c15cc784
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/scene0412_00.json	
@@ -0,0 +1,968 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
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+    "3D oriented bounding box": {
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+      0.59,
+      4.45
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+   },
+   {
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+       0.0
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+      [
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+      [
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 6.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      2.06,
+      1.46
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.08,
+      0.67
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.5,
+       0.0
+      ],
+      [
+       -0.5,
+       0.86,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 6.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      -2.35,
+      2.94
+     ],
+     "3D oriented bounding box dimensions": [
+      1.06,
+      0.03,
+      0.76
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.0,
+       1.0
+      ]
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+    },
+    "first visible time": 2.67
+   }
+  ],
+  "radiator": [
+   {
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+      2.31,
+      2.74
+     ],
+     "3D oriented bounding box dimensions": [
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+     "3D oriented bounding box orientation unit vectors": [
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+       1.0
+      ]
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+    },
+    "first visible time": 1.5
+   }
+  ],
+  "refrigerator": [
+   {
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+     "3D oriented bounding box center coordinates": [
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+      2.18,
+      2.08
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+     "3D oriented bounding box dimensions": [
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.17
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
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+      1.67,
+      3.9
+     ],
+     "3D oriented bounding box dimensions": [
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+      1.44,
+      1.09
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.61,
+       0.0
+      ],
+      [
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+       0.79,
+       0.0
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+      [
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.0,
+      -0.98,
+      3.1
+     ],
+     "3D oriented bounding box dimensions": [
+      0.77,
+      0.09,
+      0.1
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
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+       0.92,
+       0.0
+      ],
+      [
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+       -0.39,
+       0.0
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+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.67
+   }
+  ],
+  "trash bin": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      1.41,
+      4.12
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.25,
+      0.44
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.35,
+       0.0
+      ],
+      [
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+       0.94,
+       0.0
+      ],
+      [
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      1.98,
+      3.36
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.4,
+      0.23
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.44,
+       0.0
+      ],
+      [
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+   },
+   {
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+      2.64,
+      0.39
+     ],
+     "3D oriented bounding box dimensions": [
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+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.48,
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+      [
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+       0.88,
+       0.0
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+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 6.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      1.0,
+      4.42
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.76,
+      0.4
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.18,
+       0.0
+      ],
+      [
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+       0.98,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      0.99,
+      4.76
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.23,
+      0.48
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.92,
+       0.0
+      ],
+      [
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+       -0.39,
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+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.33
+   }
+  ],
+  "window": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      0.17,
+      5.15
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.11,
+      0.21
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.91,
+       0.0
+      ],
+      [
+       -0.91,
+       -0.42,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.33
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -1.87,
+      1.45
+     ],
+     [
+      -1.37,
+      1.45
+     ],
+     [
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+     ],
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+     ],
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+     ],
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+     ],
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+     ],
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+     ],
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+     ],
+     [
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+      0.55
+     ],
+     [
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+     ],
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+      0.25
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+     [
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+      0.15
+     ],
+     [
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+     [
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+     [
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+     ],
+     [
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+     [
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+     [
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+     [
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+     ],
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+     ],
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+     ],
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+     ],
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+     ],
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+     ],
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+     ],
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+     ],
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+     ],
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+     ],
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+      0.15
+     ],
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+      0.25
+     ],
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+      0.35
+     ],
+     [
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+      0.45
+     ],
+     [
+      1.23,
+      0.55
+     ],
+     [
+      1.13,
+      0.65
+     ],
+     [
+      1.13,
+      0.75
+     ],
+     [
+      1.03,
+      0.85
+     ],
+     [
+      1.03,
+      1.05
+     ],
+     [
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+      1.15
+     ],
+     [
+      0.93,
+      1.25
+     ],
+     [
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+      1.35
+     ],
+     [
+      0.83,
+      1.55
+     ],
+     [
+      0.63,
+      1.75
+     ],
+     [
+      0.63,
+      1.85
+     ],
+     [
+      0.53,
+      1.95
+     ],
+     [
+      0.53,
+      2.05
+     ],
+     [
+      0.43,
+      2.15
+     ],
+     [
+      0.43,
+      2.25
+     ],
+     [
+      0.33,
+      2.35
+     ],
+     [
+      0.33,
+      2.45
+     ],
+     [
+      0.23,
+      2.45
+     ],
+     [
+      0.13,
+      2.55
+     ],
+     [
+      0.13,
+      2.65
+     ],
+     [
+      -0.17,
+      2.65
+     ],
+     [
+      -0.27,
+      2.75
+     ],
+     [
+      -0.27,
+      2.95
+     ],
+     [
+      -1.27,
+      2.95
+     ],
+     [
+      -1.27,
+      2.65
+     ],
+     [
+      -1.47,
+      2.45
+     ],
+     [
+      -1.47,
+      2.15
+     ],
+     [
+      -1.67,
+      1.95
+     ],
+     [
+      -1.87,
+      1.95
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/scene0426_00.json b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/scene0426_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..a9743cbae430e92503304f952f5dade8b8f73bc4
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/scene0426_00.json	
@@ -0,0 +1,1436 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "backpack": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.48,
+      -0.04,
+      -0.33
+     ],
+     "3D oriented bounding box dimensions": [
+      0.3,
+      0.24,
+      0.45
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.68,
+       0.73,
+       0.0
+      ],
+      [
+       -0.73,
+       0.68,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.33
+   }
+  ],
+  "bed": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.79,
+      -1.2,
+      -0.1
+     ],
+     "3D oriented bounding box dimensions": [
+      1.43,
+      0.67,
+      0.47
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.91,
+       -0.42,
+       0.0
+      ],
+      [
+       0.42,
+       0.91,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.17
+   }
+  ],
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.11,
+      0.9,
+      -0.18
+     ],
+     "3D oriented bounding box dimensions": [
+      0.47,
+      0.44,
+      0.67
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.99,
+       -0.11,
+       0.0
+      ],
+      [
+       0.11,
+       0.99,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.83
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.3,
+      -1.08,
+      -0.2
+     ],
+     "3D oriented bounding box dimensions": [
+      0.43,
+      0.56,
+      0.74
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.7,
+       0.72,
+       0.0
+      ],
+      [
+       -0.72,
+       -0.7,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.83
+   }
+  ],
+  "computer mouse": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.09,
+      0.77,
+      0.17
+     ],
+     "3D oriented bounding box dimensions": [
+      0.11,
+      0.1,
+      0.01
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       -0.01,
+       0.0
+      ],
+      [
+       0.01,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.0
+   }
+  ],
+  "door": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.13,
+      -0.4,
+      0.04
+     ],
+     "3D oriented bounding box dimensions": [
+      1.23,
+      0.06,
+      0.98
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.47,
+       0.88,
+       0.0
+      ],
+      [
+       -0.88,
+       0.47,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.79,
+      1.59,
+      0.02
+     ],
+     "3D oriented bounding box dimensions": [
+      0.74,
+      0.03,
+      1.49
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.9,
+       -0.44,
+       0.0
+      ],
+      [
+       0.44,
+       0.9,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.65,
+      -1.28,
+      0.28
+     ],
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+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/scene0435_02.json b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/scene0435_02.json
new file mode 100644
index 0000000000000000000000000000000000000000..6502a9852de459988b98be9ad77f42790db8e02a
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/scene0435_02.json	
@@ -0,0 +1,1286 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
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+       0.01,
+       0.0
+      ],
+      [
+       -0.01,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 9.67
+   }
+  ],
+  "trash bin": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.53,
+      1.12,
+      -1.24
+     ],
+     "3D oriented bounding box dimensions": [
+      0.32,
+      0.21,
+      0.25
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.42,
+       0.91,
+       0.0
+      ],
+      [
+       -0.91,
+       -0.42,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.33
+   }
+  ],
+  "tv": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.24,
+      0.12,
+      -1.53
+     ],
+     "3D oriented bounding box dimensions": [
+      0.76,
+      0.5,
+      0.08
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       0.02,
+       0.0
+      ],
+      [
+       -0.02,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.21,
+      0.27,
+      -1.52
+     ],
+     "3D oriented bounding box dimensions": [
+      0.7,
+      0.25,
+      0.09
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.99,
+       0.1,
+       0.0
+      ],
+      [
+       -0.1,
+       0.99,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 9.17
+   }
+  ],
+  "window": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      3.4,
+      0.81,
+      0.54
+     ],
+     "3D oriented bounding box dimensions": [
+      0.92,
+      0.16,
+      0.49
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.04,
+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       -0.04,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.17
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -3.69,
+      0.57
+     ],
+     [
+      -3.39,
+      0.57
+     ],
+     [
+      -3.29,
+      0.47
+     ],
+     [
+      -2.29,
+      0.47
+     ],
+     [
+      -2.19,
+      0.37
+     ],
+     [
+      -2.19,
+      -0.43
+     ],
+     [
+      3.51,
+      -0.43
+     ],
+     [
+      3.51,
+      1.47
+     ],
+     [
+      -2.09,
+      1.47
+     ],
+     [
+      -2.09,
+      1.07
+     ],
+     [
+      -2.29,
+      0.87
+     ],
+     [
+      -2.79,
+      0.87
+     ],
+     [
+      -2.89,
+      0.97
+     ],
+     [
+      -2.89,
+      1.47
+     ],
+     [
+      -3.69,
+      1.47
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/scene0575_01.json b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/scene0575_01.json
new file mode 100644
index 0000000000000000000000000000000000000000..1bf5c9efa63815578b47397ac9574dac2c4010ae
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/scene0575_01.json	
@@ -0,0 +1,1054 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.0,
+      1.82,
+      0.83
+     ],
+     "3D oriented bounding box dimensions": [
+      0.97,
+      0.64,
+      0.56
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.94,
+       0.0
+      ],
+      [
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+       -0.35,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      0.42,
+      1.06
+     ],
+     "3D oriented bounding box dimensions": [
+      0.92,
+      0.51,
+      0.55
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.06,
+       0.0
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+      [
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+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   },
+   {
+    "3D oriented bounding box": {
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+      2.01,
+      2.85
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.97,
+      0.56
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.96,
+       0.0
+      ],
+      [
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+       -0.28,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.67
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      2.43,
+      1.01
+     ],
+     "3D oriented bounding box dimensions": [
+      0.67,
+      0.53,
+      0.53
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.99,
+       0.0
+      ],
+      [
+       -0.99,
+       -0.15,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.29,
+      1.4,
+      2.89
+     ],
+     "3D oriented bounding box dimensions": [
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+      1.03,
+      0.61
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.91,
+       0.0
+      ],
+      [
+       -0.91,
+       -0.42,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.5
+   },
+   {
+    "3D oriented bounding box": {
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+      3.07,
+      2.67
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.75,
+      0.5
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.95,
+       0.0
+      ],
+      [
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+       -0.31,
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+      [
+       0.0,
+       0.0,
+       1.0
+      ]
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+    "first visible time": 2.0
+   },
+   {
+    "3D oriented bounding box": {
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+      3.21,
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+     ],
+     "3D oriented bounding box dimensions": [
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+      0.47,
+      0.45
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.0
+      ],
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+       0.79,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.0
+   },
+   {
+    "3D oriented bounding box": {
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+      0.58,
+      -0.03
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+      ],
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+       0.0,
+       1.0
+      ]
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+   },
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+    "3D oriented bounding box": {
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+      0.09,
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+     ],
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+      0.35,
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+       0.97,
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+      [
+       -0.97,
+       -0.25,
+       0.0
+      ],
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+       0.0,
+       1.0
+      ]
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+    "first visible time": 0.0
+   },
+   {
+    "3D oriented bounding box": {
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+      0.19,
+      0.0
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.19,
+      0.02
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.96,
+       0.0
+      ],
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+       -0.26,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.06,
+      0.5,
+      0.0
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.09,
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.0
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+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   }
+  ],
+  "computer mouse": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      0.62,
+      2.01
+     ],
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+      0.03,
+      0.24
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.0
+      ],
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+       0.0
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+       0.0,
+       0.0,
+       1.0
+      ]
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+    },
+    "first visible time": 8.0
+   }
+  ],
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+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      -0.69,
+      0.02
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.89,
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   }
+  ],
+  "monitor": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      3.91,
+      0.92
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.04,
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+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+   },
+   {
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+      3.97,
+      2.43
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.05,
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.0
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      1.63,
+      1.63
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.06,
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+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.0
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+       -0.3,
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+       0.0,
+       1.0
+      ]
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+   },
+   {
+    "3D oriented bounding box": {
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+      0.56,
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+     "3D oriented bounding box dimensions": [
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+     ],
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+   }
+  ],
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+   {
+    "3D oriented bounding box": {
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+      1.97,
+      1.6
+     ],
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+   },
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+      ]
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+   }
+  ],
+  "tv": [
+   {
+    "3D oriented bounding box": {
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+      3.92,
+      0.92
+     ],
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+      0.04,
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.0
+      ],
+      [
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+   },
+   {
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+      3.97,
+      2.42
+     ],
+     "3D oriented bounding box dimensions": [
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+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.0
+      ],
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+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.5
+   }
+  ],
+  "window": [
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+      -1.29,
+      1.17
+     ],
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+      0.06,
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+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.29,
+       0.0
+      ],
+      [
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+       0.96,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 10.0
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -1.83,
+      3.07
+     ],
+     [
+      -1.63,
+      3.07
+     ],
+     [
+      -1.53,
+      2.97
+     ],
+     [
+      -1.53,
+      2.77
+     ],
+     [
+      -1.43,
+      2.67
+     ],
+     [
+      -1.43,
+      2.47
+     ],
+     [
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+     [
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+     ],
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+     ],
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+     ],
+     [
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+     [
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+     [
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+      0.77
+     ],
+     [
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+      0.87
+     ],
+     [
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+      1.07
+     ],
+     [
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+     [
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+     [
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+     ],
+     [
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+     ],
+     [
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+     ],
+     [
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+      2.97
+     ],
+     [
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+      3.07
+     ],
+     [
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+      3.17
+     ],
+     [
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+      3.27
+     ],
+     [
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+      3.37
+     ],
+     [
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+      3.47
+     ],
+     [
+      0.37,
+      3.67
+     ],
+     [
+      0.27,
+      3.77
+     ],
+     [
+      0.27,
+      3.97
+     ],
+     [
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+      4.17
+     ],
+     [
+      0.07,
+      4.37
+     ],
+     [
+      -1.53,
+      4.37
+     ],
+     [
+      -1.53,
+      4.17
+     ],
+     [
+      -1.63,
+      4.07
+     ],
+     [
+      -1.83,
+      4.07
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/scene0580_01.json b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/scene0580_01.json
new file mode 100644
index 0000000000000000000000000000000000000000..7943e4487813dc885002941e6656064f31c093b1
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/scene0580_01.json	
@@ -0,0 +1,992 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "backpack": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.7,
+      -1.2,
+      0.03
+     ],
+     "3D oriented bounding box dimensions": [
+      0.32,
+      0.28,
+      0.47
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.91,
+       0.42,
+       0.0
+      ],
+      [
+       -0.42,
+       0.91,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 5.0
+   }
+  ],
+  "bed": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.82,
+      -0.02,
+      0.0
+     ],
+     "3D oriented bounding box dimensions": [
+      1.42,
+      1.09,
+      0.28
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.98,
+       0.0
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+      [
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+       0.18,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.5
+   },
+   {
+    "3D oriented bounding box": {
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+      0.88,
+      0.18,
+      0.02
+     ],
+     "3D oriented bounding box dimensions": [
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+      1.04,
+      0.25
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.0
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+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 9.33
+   }
+  ],
+  "bookshelf": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.34,
+      0.88,
+      0.18
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.36,
+      1.2
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       1.0,
+       0.0
+      ],
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+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.83
+   }
+  ],
+  "chair": [
+   {
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+      -1.15,
+      -0.14
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.52,
+      0.84
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.94,
+       0.0
+      ],
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+       -0.34,
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+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 5.0
+   }
+  ],
+  "closet": [
+   {
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+     "3D oriented bounding box center coordinates": [
+      2.43,
+      0.81,
+      0.66
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.25,
+      0.98
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.1,
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+      [
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+       0.0,
+       1.0
+      ]
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+    },
+    "first visible time": 5.83
+   }
+  ],
+  "door": [
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+      0.54,
+      0.76
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.66,
+      1.26
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.14,
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+      ],
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+       0.0,
+       1.0
+      ]
+     ]
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+   },
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+      0.41
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.48,
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+       0.0,
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+    "first visible time": 8.83
+   }
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+      0.31,
+      1.92
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.88,
+      0.41
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.0
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+      [
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 9.0
+   }
+  ],
+  "lamp": [
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+      -0.75,
+      0.46
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+      0.34,
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+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.52,
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+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
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+   }
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+      0.05,
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+     "3D oriented bounding box orientation unit vectors": [
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+      [
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+       0.0,
+       1.0
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+    "first visible time": 0.5
+   },
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+      0.18,
+      -0.1
+     ],
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+       0.0,
+       1.0
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+    "first visible time": 8.67
+   }
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+  "mirror": [
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+      0.69
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+       0.0,
+       1.0
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+   }
+  ],
+  "nightstand": [
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+      -0.05
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+     "3D oriented bounding box dimensions": [
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+      0.39,
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+       0.0
+      ],
+      [
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.17
+   }
+  ],
+  "pillow": [
+   {
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+      0.34,
+      0.02
+     ],
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+       0.87,
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+       0.0
+      ],
+      [
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+       0.0,
+       1.0
+      ]
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+    "first visible time": 2.33
+   },
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+      -0.78,
+      0.19
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.4,
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+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.08,
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+       1.0,
+       0.0
+      ],
+      [
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+       0.0,
+       1.0
+      ]
+     ]
+    },
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+   },
+   {
+    "3D oriented bounding box": {
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+     ],
+     "3D oriented bounding box dimensions": [
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+      0.39,
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+     ],
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+      ]
+     ]
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+    "first visible time": 0.67
+   },
+   {
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+      1.5,
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+     "3D oriented bounding box dimensions": [
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+      0.11
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 8.83
+   }
+  ],
+  "table": [
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+      1.13,
+      -0.08
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.44,
+      0.72
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.34,
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.67
+   }
+  ],
+  "telephone": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      1.37,
+      0.2
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.07,
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.0
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+      [
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.67
+   }
+  ],
+  "towel": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      0.26,
+      0.03
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.36,
+      0.12
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.86,
+       0.0
+      ],
+      [
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+       -0.52,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.0
+   }
+  ],
+  "trash bin": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      1.53,
+      -0.25
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.23,
+      0.35
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.38,
+       0.0
+      ],
+      [
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+       0.93,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.5
+   }
+  ],
+  "window": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.27,
+      -0.06,
+      0.08
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.4,
+      1.68
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
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+       0.96,
+       0.0
+      ],
+      [
+       -0.96,
+       0.3,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.83
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -0.67,
+      -1.26
+     ],
+     [
+      -0.47,
+      -1.26
+     ],
+     [
+      -0.37,
+      -1.36
+     ],
+     [
+      0.03,
+      -1.36
+     ],
+     [
+      0.13,
+      -1.46
+     ],
+     [
+      0.13,
+      -1.66
+     ],
+     [
+      2.33,
+      -1.66
+     ],
+     [
+      2.33,
+      -1.16
+     ],
+     [
+      2.43,
+      -1.06
+     ],
+     [
+      2.43,
+      -0.86
+     ],
+     [
+      2.53,
+      -0.76
+     ],
+     [
+      2.73,
+      -0.76
+     ],
+     [
+      2.73,
+      1.54
+     ],
+     [
+      2.13,
+      1.54
+     ],
+     [
+      2.03,
+      1.64
+     ],
+     [
+      1.53,
+      1.64
+     ],
+     [
+      1.43,
+      1.74
+     ],
+     [
+      1.43,
+      2.04
+     ],
+     [
+      1.13,
+      2.04
+     ],
+     [
+      1.13,
+      1.84
+     ],
+     [
+      1.03,
+      1.74
+     ],
+     [
+      0.23,
+      1.74
+     ],
+     [
+      0.13,
+      1.84
+     ],
+     [
+      0.13,
+      2.04
+     ],
+     [
+      -0.27,
+      2.04
+     ],
+     [
+      -0.27,
+      1.84
+     ],
+     [
+      -0.37,
+      1.74
+     ],
+     [
+      -0.37,
+      1.44
+     ],
+     [
+      -0.47,
+      1.34
+     ],
+     [
+      -0.67,
+      1.34
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/scene0593_00.json b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/scene0593_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..fa98787b0239f97a1c5ea8470ac15bc0a9b39898
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/scene0593_00.json	
@@ -0,0 +1,1182 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "backpack": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.79,
+      0.03,
+      -2.17
+     ],
+     "3D oriented bounding box dimensions": [
+      0.49,
+      0.33,
+      0.32
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.01,
+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       0.01,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 5.17
+   }
+  ],
+  "bookshelf": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.25,
+      0.68,
+      -0.34
+     ],
+     "3D oriented bounding box dimensions": [
+      1.97,
+      2.56,
+      0.61
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.66,
+       0.0
+      ],
+      [
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+       0.75,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 7.0
+   }
+  ],
+  "chair": [
+   {
+    "3D oriented bounding box": {
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+      0.19,
+      -2.15
+     ],
+     "3D oriented bounding box dimensions": [
+      1.76,
+      0.56,
+      0.69
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.96,
+       0.0
+      ],
+      [
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+       -0.28,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.5
+   }
+  ],
+  "door": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.98,
+      -1.54,
+      -2.18
+     ],
+     "3D oriented bounding box dimensions": [
+      1.91,
+      0.07,
+      1.04
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.22,
+       0.0
+      ],
+      [
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+       0.98,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.17
+   },
+   {
+    "3D oriented bounding box": {
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+      -1.49,
+      1.63
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.03,
+      0.37
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.98,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.83
+   },
+   {
+    "3D oriented bounding box": {
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+      -1.47,
+      2.02
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.02,
+      0.36
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.2,
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.5
+   },
+   {
+    "3D oriented bounding box": {
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+      -1.46,
+      2.4
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.02,
+      0.36
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.19,
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+      ],
+      [
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+       0.98,
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+      ],
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+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.5
+   },
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+      -0.97,
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+      0.03,
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.0,
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+      ]
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+    "first visible time": 2.67
+   }
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+      0.4,
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.24,
+       0.0
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.0
+   }
+  ],
+  "keyboard": [
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+      1.33,
+      0.45
+     ],
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+      0.09,
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.87,
+       0.0
+      ],
+      [
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+       0.5,
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+      [
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+       0.0,
+       1.0
+      ]
+     ]
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+    "first visible time": 10.33
+   }
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.97,
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+       0.0,
+       1.0
+      ]
+     ]
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+   }
+  ],
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+   }
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+     "3D oriented bounding box orientation unit vectors": [
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+      ]
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+   }
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+      ]
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+   },
+   {
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+      1.3,
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+   },
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+      -1.31,
+      1.73
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.32,
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+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       1.0,
+       0.0
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+      ],
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.5
+   }
+  ],
+  "refrigerator": [
+   {
+    "3D oriented bounding box": {
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+      0.11,
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+     ]
+    },
+    "first visible time": 3.5
+   }
+  ],
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+      0.2,
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+       0.0,
+       1.0
+      ]
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+   }
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+      1.61,
+      -2.34
+     ],
+     "3D oriented bounding box dimensions": [
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+    "first visible time": 5.67
+   },
+   {
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+      1.94,
+      -1.26
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.0,
+       1.0
+      ]
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+    },
+    "first visible time": 8.17
+   }
+  ],
+  "telephone": [
+   {
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+      -1.18,
+      1.46
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.09,
+      0.06
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+      ],
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+       0.0,
+       1.0
+      ]
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+    "first visible time": 9.33
+   }
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+  "towel": [
+   {
+    "3D oriented bounding box": {
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+      0.37,
+      0.05
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.07,
+      0.08
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.97,
+       0.0
+      ],
+      [
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+       -0.26,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.0
+   }
+  ],
+  "trash bin": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      -0.71,
+      2.42
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.51,
+      0.61
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.27,
+       0.0
+      ],
+      [
+       -0.27,
+       0.96,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.21,
+      1.58,
+      2.21
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.36,
+      0.3
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.46,
+       0.0
+      ],
+      [
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+       0.89,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.67
+   }
+  ],
+  "tv": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      1.34,
+      0.43
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.3,
+      0.21
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.96,
+       0.0
+      ],
+      [
+       -0.96,
+       -0.27,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.83
+   }
+  ],
+  "window": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      0.81,
+      -0.01
+     ],
+     "3D oriented bounding box dimensions": [
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+      1.13,
+      0.23
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.92,
+       0.0
+      ],
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+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      -0.46,
+      2.93
+     ],
+     "3D oriented bounding box dimensions": [
+      1.2,
+      0.82,
+      0.13
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.99,
+       0.0
+      ],
+      [
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+       0.15,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      0.94,
+      2.94
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.84,
+      0.14
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       1.0,
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+      [
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+       0.0
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+      [
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.83
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -0.9,
+      -0.06
+     ],
+     [
+      -0.7,
+      -0.06
+     ],
+     [
+      -0.5,
+      -0.26
+     ],
+     [
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+      -0.36
+     ],
+     [
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+     ],
+     [
+      -0.3,
+      -1.26
+     ],
+     [
+      -0.4,
+      -1.36
+     ],
+     [
+      -0.5,
+      -1.36
+     ],
+     [
+      -0.5,
+      -1.56
+     ],
+     [
+      -0.4,
+      -1.56
+     ],
+     [
+      -0.3,
+      -1.66
+     ],
+     [
+      -0.3,
+      -1.96
+     ],
+     [
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+      -1.96
+     ],
+     [
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+      -1.76
+     ],
+     [
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+     ],
+     [
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+      -1.66
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+     [
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+     ],
+     [
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+     ],
+     [
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+     ],
+     [
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+      -1.06
+     ],
+     [
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+      -1.06
+     ],
+     [
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+      0.04
+     ],
+     [
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+      0.04
+     ],
+     [
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+      0.14
+     ],
+     [
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+      0.54
+     ],
+     [
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+      0.64
+     ],
+     [
+      1.7,
+      0.94
+     ],
+     [
+      1.6,
+      1.04
+     ],
+     [
+      1.6,
+      1.34
+     ],
+     [
+      1.5,
+      1.44
+     ],
+     [
+      1.5,
+      1.74
+     ],
+     [
+      1.4,
+      1.84
+     ],
+     [
+      1.4,
+      2.24
+     ],
+     [
+      -0.5,
+      2.24
+     ],
+     [
+      -0.5,
+      2.04
+     ],
+     [
+      -0.6,
+      1.94
+     ],
+     [
+      -0.9,
+      1.94
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/scene0647_00.json b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/scene0647_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..47942038f7a24becedc9243785389dba9d78c066
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/scene0647_00.json	
@@ -0,0 +1,974 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "backpack": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.6,
+      -1.24,
+      4.09
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.38,
+      0.23
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.0
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+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.83
+   }
+  ],
+  "chair": [
+   {
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+      -0.5,
+      3.98
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.56,
+      0.55
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.0
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+      [
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 5.0
+   },
+   {
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+      -1.89,
+      4.26
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.42,
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+     ],
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 5.0
+   }
+  ],
+  "door": [
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+      -1.48,
+      -0.02
+     ],
+     "3D oriented bounding box dimensions": [
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.0,
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+    },
+    "first visible time": 0.5
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+    },
+    "first visible time": 5.5
+   }
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+     ],
+     "3D oriented bounding box dimensions": [
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+     "3D oriented bounding box orientation unit vectors": [
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+    "first visible time": 3.0
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+     "3D oriented bounding box orientation unit vectors": [
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+    "first visible time": 2.83
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+     [
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+      2.7
+     ],
+     [
+      0.88,
+      3.0
+     ],
+     [
+      0.78,
+      3.1
+     ],
+     [
+      0.78,
+      3.4
+     ],
+     [
+      0.68,
+      3.5
+     ],
+     [
+      0.68,
+      3.8
+     ],
+     [
+      0.58,
+      3.9
+     ],
+     [
+      0.58,
+      4.2
+     ],
+     [
+      0.48,
+      4.3
+     ],
+     [
+      0.48,
+      4.6
+     ],
+     [
+      0.38,
+      4.7
+     ],
+     [
+      0.38,
+      5.0
+     ],
+     [
+      0.28,
+      5.1
+     ],
+     [
+      0.28,
+      5.4
+     ],
+     [
+      0.18,
+      5.5
+     ],
+     [
+      0.18,
+      5.8
+     ],
+     [
+      0.08,
+      5.9
+     ],
+     [
+      0.08,
+      6.2
+     ],
+     [
+      -0.52,
+      6.2
+     ],
+     [
+      -0.72,
+      6.4
+     ],
+     [
+      -1.42,
+      6.4
+     ],
+     [
+      -1.52,
+      6.3
+     ],
+     [
+      -2.42,
+      6.3
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/scene0648_00.json b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/scene0648_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..36aa441dcc11213d87b24fc7c1427f7694865440
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/scene0648_00.json	
@@ -0,0 +1,1238 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "backpack": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.28,
+      -0.02,
+      1.78
+     ],
+     "3D oriented bounding box dimensions": [
+      0.45,
+      0.3,
+      0.21
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.99,
+       0.16,
+       0.0
+      ],
+      [
+       -0.16,
+       0.99,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.17
+   }
+  ],
+  "bed": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.55,
+      0.41,
+      0.86
+     ],
+     "3D oriented bounding box dimensions": [
+      0.71,
+      0.66,
+      1.32
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.98,
+       0.0
+      ],
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+       -0.98,
+       -0.18,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      -0.2,
+      -0.14
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.51,
+      0.68
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       1.0,
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+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.49,
+      0.94,
+      -0.19
+     ],
+     "3D oriented bounding box dimensions": [
+      0.69,
+      0.19,
+      0.79
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       1.0,
+       0.0
+      ],
+      [
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+       0.06,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.5
+   }
+  ],
+  "bookshelf": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      -0.56,
+      2.42
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.81,
+      0.27
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.96,
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+       0.0
+      ],
+      [
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.5
+   }
+  ],
+  "chair": [
+   {
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+      -0.59,
+      1.8
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.76,
+      0.48
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       1.0,
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+       1.0
+      ]
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+   },
+   {
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+      0.48,
+      0.26
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.1,
+      0.42
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.0,
+       0.0,
+       1.0
+      ]
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+    "first visible time": 8.33
+   }
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+   }
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+      0.86,
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+     "3D oriented bounding box orientation unit vectors": [
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+      ],
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+       0.0,
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+    },
+    "first visible time": 1.83
+   },
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+      0.96,
+      0.37
+     ],
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+      0.03,
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+     "3D oriented bounding box orientation unit vectors": [
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+       -0.58,
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+      ]
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+    "first visible time": 9.17
+   }
+  ],
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+   {
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+     "3D oriented bounding box orientation unit vectors": [
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+    "first visible time": 0.33
+   },
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+   },
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+     ],
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+     "3D oriented bounding box orientation unit vectors": [
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+      ]
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+    "first visible time": 1.5
+   }
+  ],
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+   {
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+      0.27,
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+   }
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+  "nightstand": [
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+   },
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+   },
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+     ],
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+   },
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+     ],
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+      0.4
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+    "first visible time": 5.17
+   },
+   {
+    "3D oriented bounding box": {
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+      1.19,
+      -0.1
+     ],
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+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+      ],
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+      [
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+       0.0,
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+      ]
+     ]
+    },
+    "first visible time": 1.5
+   }
+  ],
+  "plant": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      -0.78,
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+     ],
+     "3D oriented bounding box dimensions": [
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+      0.39,
+      0.32
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+      ],
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+       1.0,
+       0.0
+      ],
+      [
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+       0.0,
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+      ]
+     ]
+    },
+    "first visible time": 4.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      -0.23,
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+     ],
+     "3D oriented bounding box dimensions": [
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+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+      ],
+      [
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 5.0
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      -0.52,
+      2.12
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.34,
+      0.37
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+      ]
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+   },
+   {
+    "3D oriented bounding box": {
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+     ],
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+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.0
+      ],
+      [
+       -0.92,
+       0.4,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.0
+   }
+  ],
+  "towel": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.42,
+      0.78,
+      0.66
+     ],
+     "3D oriented bounding box dimensions": [
+      0.61,
+      0.23,
+      0.29
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.14,
+       0.99,
+       0.0
+      ],
+      [
+       -0.99,
+       -0.14,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.0
+   }
+  ],
+  "tv": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.65,
+      0.97,
+      0.34
+     ],
+     "3D oriented bounding box dimensions": [
+      0.16,
+      0.03,
+      0.25
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       -0.07,
+       0.0
+      ],
+      [
+       0.07,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 9.33
+   }
+  ],
+  "window": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.24,
+      1.89,
+      0.0
+     ],
+     "3D oriented bounding box dimensions": [
+      0.89,
+      0.17,
+      0.41
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.98,
+       0.18,
+       0.0
+      ],
+      [
+       -0.18,
+       0.98,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.09,
+      1.86,
+      0.56
+     ],
+     "3D oriented bounding box dimensions": [
+      1.14,
+      0.27,
+      0.37
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       0.08,
+       0.0
+      ],
+      [
+       -0.08,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.55,
+      1.82,
+      0.46
+     ],
+     "3D oriented bounding box dimensions": [
+      0.34,
+      0.15,
+      0.56
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       0.09,
+       0.0
+      ],
+      [
+       -0.09,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 9.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.54,
+      1.83,
+      -0.03
+     ],
+     "3D oriented bounding box dimensions": [
+      0.3,
+      0.11,
+      0.56
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       0.05,
+       0.0
+      ],
+      [
+       -0.05,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 9.33
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -0.86,
+      -1.3
+     ],
+     [
+      1.64,
+      -1.3
+     ],
+     [
+      1.64,
+      1.1
+     ],
+     [
+      1.04,
+      1.1
+     ],
+     [
+      0.94,
+      1.2
+     ],
+     [
+      0.94,
+      1.5
+     ],
+     [
+      0.74,
+      1.7
+     ],
+     [
+      0.74,
+      2.6
+     ],
+     [
+      -0.56,
+      2.6
+     ],
+     [
+      -0.56,
+      2.3
+     ],
+     [
+      -0.66,
+      2.2
+     ],
+     [
+      -0.86,
+      2.2
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/scene0663_00.json b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/scene0663_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..b9f5230d4f50d9488ada91875df47758965504f8
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/scene0663_00.json	
@@ -0,0 +1,1124 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "backpack": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.16,
+      0.62,
+      0.41
+     ],
+     "3D oriented bounding box dimensions": [
+      0.32,
+      0.43,
+      0.28
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.41,
+       0.0
+      ],
+      [
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+       0.91,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      1.08,
+      0.84
+     ],
+     "3D oriented bounding box dimensions": [
+      0.44,
+      0.3,
+      0.29
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.98,
+       0.0
+      ],
+      [
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+       -0.2,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.0
+   },
+   {
+    "3D oriented bounding box": {
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+      0.63,
+      0.53
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.25,
+      0.15
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.67,
+       0.0
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+       0.74,
+       0.0
+      ],
+      [
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 6.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      1.11,
+      0.77
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.22,
+      0.3
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.93,
+       0.0
+      ],
+      [
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+       0.36,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.83
+   }
+  ],
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      0.64,
+      1.04
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.57,
+      0.56
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.69,
+       0.0
+      ],
+      [
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+       0.73,
+       0.0
+      ],
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+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   },
+   {
+    "3D oriented bounding box": {
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+      0.72,
+      1.56
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.65,
+      0.55
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.83,
+       0.0
+      ],
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+       -0.56,
+       0.0
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+       0.0,
+       1.0
+      ]
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+    "first visible time": 3.67
+   },
+   {
+    "3D oriented bounding box": {
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+      0.76,
+      1.52
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.07,
+      0.4
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.99,
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+      ],
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+       0.17,
+       0.0
+      ],
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+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.33
+   }
+  ],
+  "computer mouse": [
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+      0.63,
+      0.43
+     ],
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+     ],
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+      ],
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+       0.0,
+       1.0
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+      0.66,
+      2.07
+     ],
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+      0.03,
+      0.13
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.11,
+       0.0
+      ],
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+       0.99,
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+       0.0,
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+      ]
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+    "first visible time": 8.33
+   },
+   {
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+      0.64,
+      2.25
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.05,
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+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.0
+      ],
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+       0.99,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 8.5
+   }
+  ],
+  "door": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      0.57,
+      0.57
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.07,
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+     "3D oriented bounding box orientation unit vectors": [
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+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       -0.01,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.0
+   }
+  ],
+  "keyboard": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      0.63,
+      0.37
+     ],
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+      0.02,
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.01,
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+       0.0,
+       1.0
+      ]
+     ]
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+   },
+   {
+    "3D oriented bounding box": {
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+      0.66,
+      2.1
+     ],
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+      ],
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+       0.0
+      ],
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 8.33
+   }
+  ],
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+   {
+    "3D oriented bounding box": {
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+      0.54,
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+     "3D oriented bounding box dimensions": [
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.0
+      ],
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+       0.0,
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+      ]
+     ]
+    },
+    "first visible time": 0.83
+   }
+  ],
+  "monitor": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      0.42,
+      0.02
+     ],
+     "3D oriented bounding box dimensions": [
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+      ],
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+      ]
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+   },
+   {
+    "3D oriented bounding box": {
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+      0.41,
+      0.01
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.44,
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+     "3D oriented bounding box orientation unit vectors": [
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+      [
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+   },
+   {
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+      0.36,
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+     ],
+     "3D oriented bounding box dimensions": [
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+       0.0,
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+      ]
+     ]
+    },
+    "first visible time": 3.67
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      0.89,
+      0.09
+     ],
+     "3D oriented bounding box dimensions": [
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+       1.0
+      ]
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+   },
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+     ],
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+   },
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+      0.65,
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+     ],
+     "3D oriented bounding box dimensions": [
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+      0.03,
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+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+      [
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+      ],
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+       0.0,
+       1.0
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+   },
+   {
+    "3D oriented bounding box": {
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+      0.65,
+      1.17
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.07,
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+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+      ],
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+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   }
+  ],
+  "telephone": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      0.61,
+      2.28
+     ],
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+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/scene0684_01.json b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/scene0684_01.json
new file mode 100644
index 0000000000000000000000000000000000000000..f486dca5f6d1e4367f3407c489c0a05b1e37973d
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/scene0684_01.json	
@@ -0,0 +1,574 @@
+{
+ "spatial code schema": {
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+      "3D oriented bounding box center coordinates": {
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+        "y",
+        "height above floor"
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+      "3D oriented bounding box dimensions": {
+       "components": [
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+        "dimension 2",
+        "dimension 3"
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+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
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+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/scene0693_00.json b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/scene0693_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..31790f98db63ff753bdf10773267445067e14912
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/scene0693_00.json	
@@ -0,0 +1,528 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
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+        [
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+        [
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+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
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+       [
+        "x",
+        "y"
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+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
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+       [
+        [
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+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.96,
+       0.29,
+       0.0
+      ],
+      [
+       -0.29,
+       0.96,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 6.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.65,
+      0.69,
+      -0.21
+     ],
+     "3D oriented bounding box dimensions": [
+      0.35,
+      0.02,
+      0.54
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.96,
+       0.27,
+       0.0
+      ],
+      [
+       -0.27,
+       0.96,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.5
+   }
+  ],
+  "mirror": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.08,
+      -0.65,
+      -0.02
+     ],
+     "3D oriented bounding box dimensions": [
+      0.42,
+      0.14,
+      0.77
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.95,
+       0.31,
+       0.0
+      ],
+      [
+       -0.31,
+       0.95,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 7.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.86,
+      0.54,
+      0.52
+     ],
+     "3D oriented bounding box dimensions": [
+      0.29,
+      0.11,
+      0.25
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.28,
+       0.96,
+       0.0
+      ],
+      [
+       -0.96,
+       -0.28,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.04,
+      0.2,
+      0.17
+     ],
+     "3D oriented bounding box dimensions": [
+      0.1,
+      0.1,
+      0.15
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.87,
+       -0.49,
+       0.0
+      ],
+      [
+       0.49,
+       0.87,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 5.83
+   }
+  ],
+  "towel": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.57,
+      1.0,
+      0.19
+     ],
+     "3D oriented bounding box dimensions": [
+      0.35,
+      0.05,
+      0.69
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.29,
+       0.96,
+       0.0
+      ],
+      [
+       -0.96,
+       -0.29,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   }
+  ],
+  "trash bin": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.38,
+      -0.32,
+      -0.37
+     ],
+     "3D oriented bounding box dimensions": [
+      0.22,
+      0.23,
+      0.31
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.97,
+       0.23,
+       0.0
+      ],
+      [
+       -0.23,
+       0.97,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 7.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.8,
+      -0.27,
+      -0.36
+     ],
+     "3D oriented bounding box dimensions": [
+      0.18,
+      0.27,
+      0.13
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.29,
+       0.96,
+       0.0
+      ],
+      [
+       -0.96,
+       0.29,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 6.0
+   }
+  ],
+  "window": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.61,
+      1.12,
+      0.25
+     ],
+     "3D oriented bounding box dimensions": [
+      0.84,
+      0.05,
+      0.99
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.27,
+       0.96,
+       0.0
+      ],
+      [
+       -0.96,
+       -0.27,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.83
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.57,
+      1.31,
+      0.97
+     ],
+     "3D oriented bounding box dimensions": [
+      0.71,
+      0.03,
+      0.17
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.97,
+       0.25,
+       0.0
+      ],
+      [
+       -0.25,
+       0.97,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.67
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -1.06,
+      -0.35
+     ],
+     [
+      -0.86,
+      -0.35
+     ],
+     [
+      -0.76,
+      -0.45
+     ],
+     [
+      -0.76,
+      -0.85
+     ],
+     [
+      0.74,
+      -0.85
+     ],
+     [
+      0.74,
+      -0.65
+     ],
+     [
+      0.84,
+      -0.55
+     ],
+     [
+      0.94,
+      -0.55
+     ],
+     [
+      0.94,
+      -0.15
+     ],
+     [
+      1.04,
+      -0.05
+     ],
+     [
+      1.44,
+      -0.05
+     ],
+     [
+      1.44,
+      1.25
+     ],
+     [
+      0.74,
+      1.25
+     ],
+     [
+      0.64,
+      1.35
+     ],
+     [
+      0.64,
+      1.55
+     ],
+     [
+      -1.06,
+      1.55
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/scene0696_01.json b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/scene0696_01.json
new file mode 100644
index 0000000000000000000000000000000000000000..5f83028608ced5a6677d4f027f311bdacd1051e9
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/scene0696_01.json	
@@ -0,0 +1,1650 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "bed": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.88,
+      1.67,
+      -0.08
+     ],
+     "3D oriented bounding box dimensions": [
+      0.73,
+      1.61,
+      0.4
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       0.1,
+       0.0
+      ],
+      [
+       -0.1,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.83
+   }
+  ],
+  "bookshelf": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.62,
+      -0.81,
+      0.19
+     ],
+     "3D oriented bounding box dimensions": [
+      0.47,
+      0.35,
+      1.91
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       -0.05,
+       0.0
+      ],
+      [
+       0.05,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.55,
+      1.43,
+      0.39
+     ],
+     "3D oriented bounding box dimensions": [
+      0.54,
+      0.41,
+      1.06
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.27,
+       0.96,
+       0.0
+      ],
+      [
+       -0.96,
+       -0.27,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 6.83
+   }
+  ],
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.56,
+      0.7,
+      -0.15
+     ],
+     "3D oriented bounding box dimensions": [
+      0.57,
+      0.35,
+      0.78
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       -0.05,
+       0.0
+      ],
+      [
+       0.05,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.67
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.13,
+      0.73,
+      -0.16
+     ],
+     "3D oriented bounding box dimensions": [
+      0.35,
+      0.34,
+      0.76
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       -0.06,
+       0.0
+      ],
+      [
+       0.06,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 8.67
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.96,
+      2.27,
+      -0.11
+     ],
+     "3D oriented bounding box dimensions": [
+      0.41,
+      0.71,
+      0.42
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.85,
+       -0.53,
+       0.0
+      ],
+      [
+       0.53,
+       0.85,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.36,
+      -0.59,
+      -0.32
+     ],
+     "3D oriented bounding box dimensions": [
+      0.44,
+      0.04,
+      0.55
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       0.06,
+       0.0
+      ],
+      [
+       -0.06,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.67
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.44,
+      0.7,
+      -0.25
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.33,
+      0.8
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       1.0,
+       0.05,
+       0.0
+      ],
+      [
+       -0.05,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.81,
+      0.64,
+      -0.21
+     ],
+     "3D oriented bounding box dimensions": [
+      1.07,
+      0.37,
+      0.67
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.99,
+       0.12,
+       0.0
+      ],
+      [
+       -0.12,
+       0.99,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.5,
+      1.81,
+      -0.11
+     ],
+     "3D oriented bounding box dimensions": [
+      0.45,
+      0.11,
+      0.15
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.07,
+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       0.07,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.24,
+      0.47,
+      0.02
+     ],
+     "3D oriented bounding box dimensions": [
+      0.76,
+      0.09,
+      0.52
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       0.1,
+       0.0
+      ],
+      [
+       -0.1,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   }
+  ],
+  "computer mouse": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.07,
+      -0.69,
+      0.54
+     ],
+     "3D oriented bounding box dimensions": [
+      0.16,
+      0.13,
+      0.06
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.95,
+       -0.32,
+       0.0
+      ],
+      [
+       0.32,
+       0.95,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.5
+   }
+  ],
+  "door": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.84,
+      0.29,
+      0.34
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.2,
+      1.54
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.03,
+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       0.03,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.79,
+      3.17,
+      0.11
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.08,
+      0.72
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       0.07,
+       0.0
+      ],
+      [
+       -0.07,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.83
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.58,
+      -0.51,
+      0.52
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.04,
+      0.69
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.04,
+       0.0
+      ],
+      [
+       0.04,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.83
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.36,
+      -0.59,
+      -0.28
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.04,
+      0.61
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       0.03,
+       0.0
+      ],
+      [
+       -0.03,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.66,
+      -0.67,
+      0.91
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.06,
+      0.51
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       1.0,
+       -0.03,
+       0.0
+      ],
+      [
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+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      3.14,
+      0.09
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.07,
+      0.7
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       0.1,
+       0.0
+      ],
+      [
+       -0.1,
+       1.0,
+       0.0
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+      0.2
+     ],
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+      3.4,
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+     ],
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+   },
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+    "3D oriented bounding box": {
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+      3.28,
+      0.39
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.1,
+      0.36
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.01,
+       0.0
+      ],
+      [
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+       1.0,
+       0.0
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.17
+   }
+  ],
+  "window": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      1.55,
+      0.79
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.13,
+      0.87
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       0.01,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   },
+   {
+    "3D oriented bounding box": {
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+      3.73,
+      0.54
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.23,
+      0.61
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.07,
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+      ],
+      [
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+       1.0,
+       0.0
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.83
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
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+      0.33
+     ],
+     [
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+      0.33
+     ],
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+     ],
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+     ],
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+     ],
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+     ],
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+     ],
+     [
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+      3.63
+     ],
+     [
+      1.25,
+      3.63
+     ],
+     [
+      1.15,
+      3.73
+     ],
+     [
+      1.15,
+      3.93
+     ],
+     [
+      -2.15,
+      3.93
+     ],
+     [
+      -2.15,
+      3.63
+     ],
+     [
+      -2.25,
+      3.53
+     ],
+     [
+      -2.45,
+      3.53
+     ],
+     [
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+      3.33
+     ],
+     [
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+     ],
+     [
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+     [
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+     ],
+     [
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+     ],
+     [
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+      2.83
+     ],
+     [
+      -3.75,
+      2.83
+     ],
+     [
+      -3.75,
+      2.63
+     ],
+     [
+      -3.85,
+      2.53
+     ],
+     [
+      -3.95,
+      2.53
+     ],
+     [
+      -4.05,
+      2.43
+     ],
+     [
+      -4.05,
+      2.03
+     ],
+     [
+      -4.15,
+      1.93
+     ],
+     [
+      -4.25,
+      1.93
+     ],
+     [
+      -4.25,
+      1.83
+     ],
+     [
+      -4.45,
+      1.63
+     ],
+     [
+      -4.45,
+      1.53
+     ],
+     [
+      -4.55,
+      1.43
+     ],
+     [
+      -4.55,
+      1.33
+     ],
+     [
+      -4.65,
+      1.23
+     ],
+     [
+      -4.65,
+      1.13
+     ],
+     [
+      -4.75,
+      1.03
+     ],
+     [
+      -4.95,
+      1.03
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/scene0699_00.json b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/scene0699_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..42f70a7f1af1aee2ab8dcbc8f2172a389fd857c2
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Tighter Statistical Outlier Removal/64/compact/scene0699_00.json	
@@ -0,0 +1,912 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "backpack": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      3.34,
+      1.11,
+      -0.15
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+}
\ No newline at end of file