# Landmark-Based Scale Estimation and Correction of Visual Inertial Odometry for VTOL UAVs in a GPS-Denied Environment

> Research article (Sensors, 2022) · cited 14× · AI/ML

**Wikidata**: [openalex:W4312127549](https://www.wikidata.org/wiki/openalex:W4312127549)  
**Source**: https://4ort.xyz/entity/landmark-based-scale-estimation-and-correction-of-visual-inertial-odometry-for-vtol-uavs-in-a-gps-denied-environment