Michael Blösch, Sammy Omari, Marco Hutter, Roland Siegwart. Robust visual inertial odometry using a direct EKF-based approach. In 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015, Hamburg, Germany, September 28 - October 2, 2015. pages 298-304, IEEE, 2015. [doi]
Abstract is missing.