# A ROS Multi-Tier UAV Localization Module Based on GNSS, Inertial and Visual-Depth Data

> Research article (Drones, 2022) · cited 16× · AI/ML

**Wikidata**: [openalex:W4281561242](https://www.wikidata.org/wiki/openalex:W4281561242)  
**Source**: https://4ort.xyz/entity/a-ros-multi-tier-uav-localization-module-based-on-gnss-inertial-and-visual-depth-data