deletions | additions       diff --git a/subsection_Homography_Determination_Keypoint_Matching__.tex b/subsection_Homography_Determination_Keypoint_Matching__.tex  index f3ad944..d1705ee 100644  --- a/subsection_Homography_Determination_Keypoint_Matching__.tex  +++ b/subsection_Homography_Determination_Keypoint_Matching__.tex 
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then created using a least-squares approach and further refined by  various algorithms.  While this approach is used in frameworks for visual simultaneous localization and mapping, the pipeline of feature detection, description, matching, and pose estimation is computationally complex. Therefore, ground stations for off-board processing~\ref{fraundorfer2012vision} processing  or largeron-board  processors are usually needed for flight control. % TODO:  % Where has the approach been used and is suitable for the proposed algorithm.