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I was hoping this would explain how the upper bound was derived, but citation [1] just listed it with its own citations, and citation [6] is a book that I'm not going to purchase.
Interesting. Oddly enough, I used to have this massive custom sofa which was a real PITA to move... could only fit in storage unit if stood up on a roller dolly and so on. I bet there'll soon be an app using CV/ML to figure out if a sofa will fit/which way to move it. ;)