Closed-form metric velocity and landmark distance determination utilizing monocular camera images and IMU data in the presence of gravity. - Marcel Tkocz; Klaus Janschek (ICARSC, 2014)

Metric velocity and landmark distance estimation utilizing monocular camera images and IMU data. - Marcel Tkocz; Klaus Janschek (WPNC, 2014)

Towards Consistent State and Covariance Initialization for Monocular SLAM Filters - Utilizing Closed-Form Solutions to Gain Measurement Based and Assumption Free Initial Estimates. - Marcel Tkocz; Klaus Janschek (J. Intell. Robotic Syst., 2015)