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To overcome this limitation , we propose a novel mapping algorithm that derives the relative positioning and orientation between two PTZ cameras based on a unified polynomial model .
 mapping algorithm, relative positioning; mapping algorithm, orientation; relative positioning, orientation; relative positioning, PTZ cameras; orientation, PTZ cameras; unified polynomial model, mapping algorithm
Please list all entity pairs containing a certain relationship in the given options.Output format is "word1, word2; word3, word4". 
Option: conjunction, feature of, hyponym of, used for, part of, compare, evaluate for 
Text: {0} 
Answer:
 mapping algorithm, relative positioning; mapping algorithm, orientation; relative positioning, orientation; relative positioning, PTZ cameras; orientation, PTZ cameras; unified polynomial model, mapping algorithm