@inproceedings{Achtelik:etal:IROS2012,
title = {{Visual-Inertial SLAM for a Small Helicopter in Large Outdoor Environments}},
author = {Markus W. Achtelik and Simon Lynen and Stephan Weiss and Laurent Kneip and Margarita Chli and Roland Siegwart},
booktitle = {Proceedings of the {IEEE/RSJ} Conference on Intelligent Robots and Systems({IROS})},
year = {2012}
}