we're moving in the world and the second thing is obstacle avoidance building a dense map of the environment in a way that we can use to to navigate the third thing is detection and tracking of objects so in this case the biker seeing them in the image estimating than 3d predicting their trajectory and the fourth thing is motion planning so with that sort of understanding of the scene want to figure out what is the best flight path that's sort of in this case provides a really cinematic video and is also not crashing it's also smooth and