Real-​time Onboard Visual-​Inertial State Estimation and Self-​Calibration of MAVs in Unknown Environments.
Stephan Weiss, Markus W. Achtelik, Simon Lynen, Margarita Chli, and Roland Siegwart
ICRA 2012 : 2012 IEEE International Conference on Robotics and Automation : St. Paul, Minnesota, USA, May 14-​18, 2012, (2012): 957-​964.
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