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Figure 1. DLR MACS UAV camera system: Upper right:assembled prototype. Lower left: CAD model with UAVsilhouette
Figure 3. Determination of intersection: gradual evaluation of
Figure 4. Projective mapping: aerial image and its perspectiveprojection by application of corresponding transformation matrix
Figure 7. Detail view of quick-mosaic shown in figure 6 (yellowrect section) with a ground sampling distance of 3.5cm perpixel.

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