deletions | additions       diff --git a/This_opens_the_door_for__.tex b/This_opens_the_door_for__.tex  index 1126f5a..d6603f7 100644  --- a/This_opens_the_door_for__.tex  +++ b/This_opens_the_door_for__.tex 
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This opens the door for improving the proposed  algorithm by changing the map. On the basis of desired characteristics  of a given map, an evaluation technique was developed that determines  the suitability of an environment for the proposed approach. This  technique allows for spotting distant regions with similar image  features, which could lead to deteriorated performance. The evaluation  can be performed using a given map image or recorded images during  flight. In the former case, synthetic images will be generated from  the map image that simulate images taken during flight.  The goal is to estimate $x,y$-coordinates in real-time and on-board of the UAV. It is assumed that the UAV flies at an approximately constant height, such that the estimation of height is not necessary. It is intended to further reduce the size of MAVs to that of an  insect, hence necessitating lightweight and scalable position  estimation algorithms. Figure~\ref{fig:highleveloverview} summarizes the proposed algorithm.