Initialization-free monocular visual-inertial estimation with application to autonomous MAVs,

S. Shen, Y. Mulgaonkar, N. Michael, and V. Kumar, “Initialization-free monocular visual-inertial estimation with application to autonomous MAVs,” in International Symposium on Experimental Robotics (ISER), Marrakech and Essaouira, Morocco, 2014.

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