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Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (https://creativecommons.org/licenses/by/4.0/).
A UAV image pair from an urban scene and the feature points after the initial screening: (a) the image to be registered; (b) the reference image; (c) the image pair after the rough screening. The corresponding points are connected by red lines.