@inproceedings{oleynikova2015real-time, author={Oleynikova, Helen and Burri, Michael and Lynen, Simon and Siegwart, Roland}, booktitle={Intelligent Robots and Systems (IROS 2015), 2015 IEEE/RSJ International Conference on}, title={Real-Time Visual-Inertial Localization for Aerial and Ground Robots}, year={2015}, month={Sept} }