Probabilistic Hough Voting for Attitude Estimation from Aerial Fisheye Images. - Bertil Grelsson; Michael Felsberg (SCIA, 2013)

Highly Accurate Attitude Estimation via Horizon Detection. - Bertil Grelsson; Michael Felsberg; Folke Isaksson (J. Field Robotics, 2016)

Improved Learning in Convolutional Neural Networks with Shifted Exponential Linear Units (ShELUs). - Bertil Grelsson; Michael Felsberg (ICPR, 2018)

HorizonNet for visual terrain navigation. - Bertil Grelsson; Andreas Robinson; Michael Felsberg; Fahad Shahbaz Khan (IPAS, 2018)

Vision-based Localization and Attitude Estimation Methods in Natural Environments. - Bertil Grelsson (2019)

GPS-level accurate camera localization with HorizonNet. - Bertil Grelsson; Andreas Robinson; Michael Felsberg; Fahad Shahbaz Khan (J. Field Robotics, 2020)