Masayoshi Matsuoka Alan Chen Surya P. N. Singh Adam Coates Andrew Y. Ng Sebastian Thrun Autonomous Helicopter Tracking and Localization Using a Self-surveying Camera Array. 205-215 2007 26 I. J. Robotic Res. 2 http://dx.doi.org/10.1177/0278364906074898 db/journals/ijrr/ijrr26.html#MatsuokaCSCNT07