B. Steder, G. Grisetti, C. Stachniss, and W. Burgard.
Visual SLAM for Flying Vehicles.
IEEE Transactions on Robotics, 24(5):1088-1093, 10 2008.

BibTeX entry:

@article{steder08tro,
  author = {Steder, B. and Grisetti, G. and Stachniss, C. and Burgard, W.},
  title = {Visual {SLAM} for Flying Vehicles},
  journal = {{IEEE} Transactions on Robotics},
  number = {5},
  month = {10},
  volume = {24},
  year = {2008},
  pages = {1088--1093}
}