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Micro aerial vehicles (MAVs) are gaining importance as image acquisition tools in urban environments, where areas of interest are often close to buildings and to the ground. While GPS is still the most widely used sensor for outdoor localization, urban applications motivate the change towards visual localization. We present a framework based on metric, geo-referenced visual landmarks, which can be obtained by taking images with a consumer camera at ground level. Visual landmarks serve as priordoi:10.1109/3dimpvt.2012.64 dblp:conf/3dim/WendelMB12 fatcat:ruvinl2nx5e7vknwahv3xpd764