@inproceedings{mascaro2018gomsf,
  title={GOMSF: Graph-Optimization based Multi-Sensor Fusion for robust UAV pose estimation},
  author={Mascaro, Ruben and Teixeira, Lucas and Hinzmann, Timo and Siegwart, Roland and Chli, Margarita},
  booktitle={2018 IEEE International Conference on Robotics and Automation (ICRA)},
  pages={1421--1428},
  year={2018},
  organization={IEEE}
}