the main question i have to answer is that whether
1) it is possible to salvage a position with less/least error from the almost collinear anchors.
2) almost collinear anchors should be avoided to minimize localization errors - there should be a threshold which says when a set of anchors are collinear enough to cause big errors which are intolerable
3) what makes it more worse for localization errors : almost collinear anchors, inconsistent anchors or a combination of both
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