@misc{indiciae88439e015ed9,
  title = {Feature and Pose Constrained Visual Aided Inertial Navigation for Computationally Constrained Aerial Vehicles},
  author = {Williams, Brian and Hudson, Nicolas and Tweddle, Brent and Brockers, Roland and Matthies, Larry},
  year = {2011},
  url = {https://ntrs.nasa.gov/citations/20120003288},
  note = {Source identifier: 20120003288}
}