State estimation for highly dynamic flying systems using key frame odometry with varying time delays

Korbinian Schmid, Felix Ruess, Michael Suppa, Darius Burschka. State estimation for highly dynamic flying systems using key frame odometry with varying time delays. In 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2012, Vilamoura, Algarve, Portugal, October 7-12, 2012. pages 2997-3004, IEEE, 2012. [doi]