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A. Cesetti, E. Frontoni, A. Mancini, P. Zingaretti and S. Longhi, “A Vision-Based Guidance System for UAV Navigation and Safe Landing Using Natural Landmarks,” Journal of Intelligent and Robotic Systems, Vol. 57, No. 1-4, 2010, pp. 233-257. Udoi:10.1007/s10846-009-9373-3U
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