Qinghua Zeng Yushu Wang Jianye Liu Ruizhi Chen Xiaoyi Deng Integrating monocular vision and laser point for indoor UAV SLAM. 170-179 2014 UPINLBS https://doi.org/10.1109/UPINLBS.2014.7033725 conf/upinlbs/2014 db/conf/upinlbs/upinlbs2014.html#ZengWLCD14