Vision-based State Estimation for Autonomous Rotorcraft MAVs in Complex Environments,

S. Shen, Y. Mulgaonkar, N. Michael, and V. Kumar, “Vision-based State Estimation for Autonomous Rotorcraft MAVs in Complex Environments,” in Proc. of the IEEE Intl. Conf. on Robot. and Autom., Karlsruhe, Germany, 2013.