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Centroid
Intersection of 3 medians
Orthocenter
Intersection of 3 Altitudes
Circumcenter
Intersection of 3 perpendicular bisectors
Incenter
Intersection of 3 angle bisectors
Median
Connects midpoint to vertex
Altitude
Perpendicular from vertex to opposite side
Perpendicular bisector
Passes through the midpoint and is perpendicular