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Figure 1. Principle of direct georeferencing - definition ofreference frames
Figure 2. Definition of reference frames for our own test bench.
Figure 3. Rigid body transformation parameters between twoarbitrary reference frames
Figure 5. Calibration polygon
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The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences, Volume XLII-2/W6, 2017 International Conference on Unmanned Aerial Vehicles

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