Orientation estimation fusing a downward looking camera and inertial sensors for a hovering UAV. - Gastón Araguás; Claudio Paz; David Gaydou; Gonzalo Perez Paina (ICAR, 2013)

Quaternion-based Orientation Estimation Fusing a Camera and Inertial Sensors for a Hovering UAV. - Gastón Araguás; Claudio Paz; David Gaydou; Gonzalo Perez Paina (J. Intell. Robotic Syst., 2015)

Fusion of Monocular Visual-Inertial Measurements for Three Dimensional Pose Estimation. - Gonzalo Perez Paina; Claudio Paz; Miroslav Kulich; Martin Saska; Gastón Araguás (MESAS, 2016)