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Figure 1: Illustration of the UAV, one stereo pair is looking for-ward and one backwards providing a wide field of view.
Figure 2: Example frame set taken with the four fisheye camerasin a synchronized way, that contains 50 feature points in eachframe, which are tracked using the OpenCV implementation ofthe KLT tracker.
Figure 3: Relation between sensor point, viewing direction andviewing ray.
Figure 6: (a) A small exemplary factor graph and the associatedJacobian matrixthe Bayes net
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