@InProceedings{bryICRA12,
  author =       {Adam Bry and Abraham Bachrach and Nicholas Roy},
  title =        {State Estimation for Aggressive Flight in GPS-Denied
Environments Using Onboard Sensing},
  booktitle =    {Proceedings of the IEEE International Conference on Robotics
and Automation (ICRA 2012)},
  year =         {2012},
  address =      {St Paul, MN},
}