<commit_before>
%Copyright (C) 2016 by Krishneel@JSK Lab, The University of Tokyo

%Copyright (C) 2016 by Krishneel@JSK Lab, The University of Tokyo

\documentclass{standalone}
\usepackage{footnote}
\usepackage{hyperref}
\usepackage{graphicx}
\usepackage{fancyhdr}

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\begin{document}

\subsection{Platforms}
We customized the DJI developer platform M100 as shown in Fig.\ref{figure:task1-platform} (top). We used two Nvidia Jeston TX1 to distribute the heave computation load required for image processing. The two processors are connected via a wired internal network.
We also employed a camera with fisheye lens that has a $250^\circ$ wide viewing angle for tracking, as well as optical-flow $\&$ sonar sensor units to estimate the ego-motion of the UAV. The system framework is shown in Fig.\ref{figure:task1-platform} (bottom). The processing nodes inside the processors will be explained below.

\begin{figure}[h]
    \begin{center}
        \begin{minipage}{\hsize}
          \begin{center}<commit_msg>typo fix<commit_after>
%Copyright (C) 2016 by Krishneel@JSK Lab, The University of Tokyo

%Copyright (C) 2016 by Krishneel@JSK Lab, The University of Tokyo

\documentclass{standalone}
\usepackage{footnote}
\usepackage{hyperref}
\usepackage{graphicx}
\usepackage{fancyhdr}

\renewcommand\footnoterule{%
  \kern-3\p@
  \hrule\@width2.5cm
  \kern2.6\p@
}
\makeatother

\begin{document}

\subsection{Platforms}
We customized the DJI developer platform M100 as shown in Fig.\ref{figure:task1-platform} (top). We used two Nvidia Jeston TX1 to distribute the heavy computation load required for image processing. The two processors are connected via a wired internal network.
We also employed a camera with fisheye lens that has a $250^\circ$ wide viewing angle for tracking, as well as optical-flow $\&$ sonar sensor units to estimate the ego-motion of the UAV. The system framework is shown in Fig.\ref{figure:task1-platform} (bottom). The processing nodes inside the processors will be explained below.

\begin{figure}[h]
    \begin{center}
        \begin{minipage}{\hsize}
          \begin{center}
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