deletions | additions       diff --git a/In_the_approach_proposed_in__.tex b/In_the_approach_proposed_in__.tex  index cfeed04..2b2ee92 100644  --- a/In_the_approach_proposed_in__.tex  +++ b/In_the_approach_proposed_in__.tex 
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shifted to an offline training phase to achieve high-speed during live  operation. In contrast to visual SLAM frameworks, this project considers  scenarios in which the environment is known beforehand or can be even  actively modified. The environment is non-dynamic and planar, therefore, the UAV will make use of texture on the bottom or ceiling of the environment. 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.