@inproceedings{Weiss:etal:ICRA2012vslam,
title = {{Real-time Onboard Visual-Inertial State Estimation and Self-Calibration of MAVs in Unknown Environments}},
author = {Stephan Weiss and Markus W. Achtelik and Simon Lynen and Margarita Chli and Roland Siegwart}
booktitle = "Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)",
year = "2012",
}