5697
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 .
 used for: mapping algorithm, relative positioning; used for: mapping algorithm, orientation; conjunction: relative positioning, orientation; feature of: relative positioning, PTZ cameras; feature of: orientation, PTZ cameras; used for: unified polynomial model, mapping algorithm
Given options, please tell me the relationships of all the listed entity pairs.Output format is "relation1: word1, word2; relation2: word3, word4". 
Option: conjunction, feature of, hyponym of, used for, part of, compare, evaluate for 
Text: {0} 
 Entity Pairs:  mapping algorithm, relative positioning; mapping algorithm, orientation; relative positioning, orientation; relative positioning, PTZ cameras; orientation, PTZ cameras; unified polynomial model, mapping algorithm 
Answer:
 used for: mapping algorithm, relative positioning; used for: mapping algorithm, orientation; conjunction: relative positioning, orientation; feature of: relative positioning, PTZ cameras; feature of: orientation, PTZ cameras; used for: unified polynomial model, mapping algorithm