The approach was used in absolute localization for UAVs: \citet{blosch2010vision} employ the approach on a \(3.5\,m\times 2\,m\) area and achieve a root mean square (RMS) positional error below \(10\,cm\) in \(x,y,z\)-direction. Calculations are executed on a powerful ground station, which is connected to the UAV with a USB cable. While subsequent research has brought the algorithm on board of the UAV \cite{achtelik2011onboard}, the required processing power is still too complex for small MAVs \cite{de2009design}.