how we're moving basically we have we have cameras in every direction and you don't need a lot of points like you need a little bit of information about other things are moving that are static and you track them well the which means if something is very difficult like crazy tangle of thin branches you can just ignore that part and look at the ground or look at the tops of the trees and that's enough to tell you how you're moving but for actually mapping things like we need to pay attention to every single direction and make a decision