Probably because tcpdump isn't putting the interface into monitor mode and the Kismet drone is probably putting the interface it's using into monitor mode. If you're not in monitor mode, the adapter will only see packets for the wireless network with which you're associated. There's currently no API in libpcap to turn on monitor mode, and no way in tcpdump to turn on monitor mode. You might be able to do so from the command line; see

    http://wiki.wireshark.org/CaptureSetup/WLAN

RF Monitor mode is usually set up manually from command line. In my case also.
this is how I have done:
http://www.renderlab.net/projects/wrt54g/openwrt.html

On this router I've installed tcpdump and it dumps only my laptops activity. Strange.
Maybe filter fitlers too much?
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