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  ______     ___      _____      ___     __   _   
 /_   _//   / _ \\   |__  //    / _ \\  | || | || 
   | ||    / //\ \\    / //    | / \ || | '--' || 
  _| ||   |  ___  ||  / //__   | \_/ || | .--. || 
 /__//    |_||  |_|| /_____||   \___//  |_|| |_|| 
 `--`     `-`   `-`  `-----`    `---`   `-`  `-`

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Text this: Visual simultaneous localization and mapping for co-operating unmanned aerial vehicles