Invariant Observer-Based State Estimation for Micro-Aerial Vehicles in GPS-Denied Indoor Environments Using an RGB-D Camera and MEMS Inertial Sensors - researchr publication

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Dachuan Li, Qing Li, Liang-wen Tang, Sheng Yang, Nong Cheng, Jingyan Song. Invariant Observer-Based State Estimation for Micro-Aerial Vehicles in GPS-Denied Indoor Environments Using an RGB-D Camera and MEMS Inertial Sensors. Micromachines, 6(4):487-522, 2015. [doi]

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