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Figure 3 from Local histogram matching for efficient optical flow computation applied to velocity estimation on pocket drones | Semantic Scholar
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/i/83456/products/2019-12-15T13%3A49%3A08.249Z-20191215_211047_011.jpg?1606306133 "FPV RC Drone Optical Flow Module Hovering Altitude from Maker go on Tindie")
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