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Figure 1. Performance of three solutions under a simulated  (c)                                             noisy environment
Figure 2. Matching difficulties and the multi-hypothesis nature.
Figure 4. the UAV test with missing images
Figure 6 are results of EKF with different weight ratios k0 (green: k0 = 0.1, red: k0 = 1; pink: k0 = 10; white: k0 = 100) between motion models and observations

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