Xu Yan Yingcai Bi Zhi Gao 0005 Feng Lin 0003 Laser-aided Infrared Visual Inertial Odometry for Unmanned Aerial Vehicle with Multi-plane Constraint. 323-327 2018 ICARM https://doi.org/10.1109/ICARM.2018.8610740 conf/icarm/2018 db/conf/icarm/icarm2018.html#YanBG018