Inertial aided monocular SLAM for GPS-denied navigation. - Markus Kleinert; Sebastian Schleith (MFI, 2010)

Comparison of inertial mechanization approaches for inertial aided monocular EKF-SLAM. - Markus Kleinert; Christian Ascher; Uwe Stilla (FUSION, 2012)

On sensor pose parameterization for inertial aided visual SLAM. - Markus Kleinert; Uwe Stilla (IPIN, 2012)

A sensor-centric EKF for inertial-aided visual odometry. - Markus Kleinert; Uwe Stilla (IPIN, 2013)

Sliding-Window Adjustment for Monocular Simultaneous Localization and Mapping. - Jochen Meidow; Markus Kleinert; Dimitri Bulatov (J. Aerosp. Inf. Syst., 2015)