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Mourikis, Anastasios I.; Roumeliotis, Stergios I. . (2007). [IEEE 2007 IEEE International Conference on Robotics and Automation - Rome, Italy (2007.04.10-2007.04.14)] Proceedings 2007 IEEE International Conference on Robotics and Automation - A Multi-State Constraint Kalman Filter for Vision-aided Inertial Navigation. , (0), 3565–3572. doi:10.1109/robot.2007.364024 
An interview with Sci-Hub Founder Alexandra Elbakyan,Who exactly should pay for academic research