Here's a research paper that might provide more information: "Vision-Based Navigation for the NASA Mars Helicopter" https://sci-hub.se/10.2514/6.2019-1411 https

Here's a research paper that might provide more information: "Vision-Based Navigation for the NASA Mars Helicopter" https://sci-hub.se/10.2514/6.2019-1411 https://sci-hub.se/10.2514/6.2019-1411 > This paper provides an overview of the Mars Helicopter navigation system, architecture, sensors, vision processing and state estimation algorithms.