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. 2020 Nov 24;216(8):137. doi: 10.1007/s11214-020-00765-9

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Fig. 10 — LCAM images are used by LVS to match features against a basemap. These feature matches are sent to an Extended Kalman Filter (EKF) that estimates the vehicle position. The vehicle attitude is propagated by an Inertial Measurement Unit (IMU). For details on the LVS see Johnson et al. 2017. Figure from Johnson et al. 2017