@conference {Ok12vicomor,
	title = {Vistas and Wall-Floor Intersection Features - Enabling Autonomous Flight in Man-made Environments},
	booktitle = {Workshop on Visual Control of Mobile Robots},
	year = {2012},
	url = {http://frank.dellaert.com/pubs/Ok12vicomor.pdf},
	author = {Kyel Ok and Duy-Nguyen Ta and Frank Dellaert}
}