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M. Achtelik, T. Zhang, K. Kuhnlenz and M. Buss, “Visual Tracking and Control of a Quadcopter Using a Stereo Camera System and Inertial Sensors,” Proceeding of the International Conference on Mechatronics and Automation (ICMA), 9-12 August 2009, pp. 2863-2869. doi:10.1109/ICMA.2009.5246421

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