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Computer vision is an ever more important means for the navigation of UAVs. Here we propose a landmark recognition system looking for salient man-made infrastructure. An object-oriented structural system is preferred since it can utilize known properties of these objects such as part-of hierarchies, mutual geometric constraints of parts, generalization etc. The structure, available for use as landmark, will vary strongly with the region the UAV is supposed to navigate in. Clear object-orienteddoi:10.1134/s1054661811020763 fatcat:gdkp66qylrhstaa24lqbphfexa