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@article{TUW-111435,
    author = {Gemeiner, Peter and Einramhof, Peter and Vincze, Markus},
    title = {Simultaneous Motion and Structure Estimation by Fusion of Inertial and Vision Data},
    journal = {International Journal of Robotics Research},
    year = {2007},
    volume = {26},
    number = {6},
    pages = {591--605}
}