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@article{TUW-112456,
    author = {Armesto, L. and Tornero, J. and Vincze, Markus},
    title = {Fast Ego-Motion Estimation with Multi-rate Fusion of Inertial and Vision},
    journal = {International Journal of Robotics Research},
    year = {2007},
    volume = {26},
    number = {6},
    pages = {577--591}
}