@inproceedings{burri2015real-time,
  author={Burri, Michael and Oleynikova, Helen and  and Achtelik, Markus W. and Siegwart, Roland},
  booktitle={Intelligent Robots and Systems (IROS 2015), 2015 IEEE/RSJ International Conference on},
  title={Real-Time Visual-Inertial Mapping, Re-localization and Planning Onboard MAVs in Unknown Environments},
  year={2015},
  month={Sept}
}