exactly how the camera moved during this time period and accounting for that which requires very careful work and we do both of these things but it's once once you're trying to fly like at high speeds in aggressive scenarios like we really really have to be pushing the edge of what what we can model there and what we can estimate okay cool this is one of my favorite slides because I think it talks about what is what is really hard about computer vision at least computer vision in a production robot so the so a here