## 5 Conclusions and Future Work  
This research has presented a novel ME algorithm, MDIS, designed to enhance video compression for RCVs, with a particular focus on UAVs. The MDIS algorithm builds upon the well-established DS algorithm, incorporating information from vehicle motion dynamics estimation and real-time user interaction data from the controller to guide the search process. This approach has been shown to significantly improve the efficiency and accuracy of ME, reducing the computational complexity and latency of video transmission, which is of paramount importance in applications such as drone racing, FPV systems, construction, agriculture, or mining. Overall, the MDIS algorithm's improvements in video encoding speed and quality are crucial across these diverse applications, enhancing operational efficiency, safety, and decision-making processes. The MDIS algorithm has been thoroughly tested using both simulator and real drone footage. The results have demonstrated that MDIS can reduce the encoding time by approximately 32% compared to the DS algorithm in the best-case scenario while maintaining the same video quality. Furthermore, MDIS has been shown to provide a superior compression ratio, resulting in smaller video file sizes. This is a significant achievement, as it allows for more a efficient use of network bandwidth and storage resources. This also means MDIS reduces overall end-to-end video transmission latency and can increase the final frame rate of the displayed video, enhancing the pilot's user experience. This research has also highlighted the importance of considering the direction of acceleration, rather than just the direction of movement, in the ME process. This insight has been incorporated into the MDIS algorithm, allowing it to more accurately predict the MVs and thus improve the efficiency of the search process. MDIS presents a significant enhancement over DS through its improved search range modification, achieved by incorporating search probabilities. This enhancement enables the MDIS algorithm to identify a greater number of MVs compared to DS. In DS, blocks situated near the frame edges frequently lack assigned MVs. In contrast, MDIS demonstrates a higher success rate in obtaining MVs for such blocks, thanks to its expanded search range capability. Despite these promising results, there are several potential avenues for further research and improvement. One such area is the implementation of combined search models in MDIS. Currently, MDIS uses a single search model based on the dominant movement type. However, in certain scenarios, such as when the drone is accelerating or moving forward and rotating at the same time, a combination of different search models may yield better results. Implementing this feature in MDIS could further improve its performance. Another area for future work is the refinement of the process for determining final search directions based on user input. The current approach, while effective, could potentially be improved by incorporating more sophisticated machine learning techniques to better predict the final search directions. Moreover, the process of early termination, which was not mentioned in this research before, could be modified to follow the logic of MDIS. The purpose of early termination in ME is to optimize computational efficiency. Instead of exhaustively searching through all possible MVs, the encoder may terminate the search early if it determines that further exploration is unlikely to yield a significantly better result. This is based on heuristics and thresholds calculated during the ME process. Early termination takes up a lot of CPU time because it performs an HS in a small area, similar to the DS, but at sub-pixel-level precision. The HS search locations could also be modified to follow the same logic depending on the user input. In conclusion, the MDIS algorithm represents a significant step forward in the field of video compression for RCVs.