deletions | additions       diff --git a/However_this_reduced_physical_payload__.tex b/However_this_reduced_physical_payload__.tex  index d027ae4..b263c12 100644  --- a/However_this_reduced_physical_payload__.tex  +++ b/However_this_reduced_physical_payload__.tex 
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However, this reduced physical payload is not without cost: it must be  traded off against the higher computational payload for the onboard  CPU. Vision-based position estimation is usually a time-consuming procedure~\ref{martinez2011board}. procedure \ref.  Processors of MAVs have only limited processing power. For example, a standard technique for 3D pose estimation extracts  keypoints of the current camera image and a map image and then  determines a homography between both keypoint sets. While this